Inverse kinematics solutions for multi-DOF arms can be classified as analytical or numerical. In general, analytical solutions are preferable to numerical solutions because analytical ones yield complete solutions and are computationally fast and reliable. However, analytical closed-form solutions for inverse kinematics of 6-DOF arms rarely exist for real-time control purpose of fast moving arm...

in this paper, an analytical method called the parametric iteration method (pim) is presented for solving the second-order singular ivps of lane-emden type, and its local convergence is discussed. since it is often useful to have an approximate analytical solution to describe the lane-emden type equa- tions, especially for ones where the closed-form solutions do not exist at all, therefore, an ...

This is Part-II of a two-part article that presents analytical solutions to multi-species reactive transport equations coupled through sorption and sequential first-order reactions. In Part-I, we provide the mathematical derivations and in this article we discuss the computational techniques for implementing these solutions. We adopt these techniques to develop a general computer code and use i...