Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, conventional learning methodologies do not p a y enough attention to the discontinuity of the inverse kinematics system of typical robot arms with joint limits. The inverse kinematics system of the robot arms, including a human arm w...

Inverse kinematics computation using an arti cial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, conventional learning methodologies do not pay enough attention to the discontinuity of the inverse kinematics system of typical robot arms with joint limits. The inverse kinematics system of the robot arms is a multi-valued and disco...

This paper presents a new approach for identifying and eliminating mislabeled instances in large or distributed datasets. We first partition a dataset into subsets, each of which is small enough to be processed by an induction algorithm at one time. We construct good rules from each subset, and use the good rules to evaluate the whole dataset. For a given instance Ik, two error count variables ...

In what follows by Ω we denote a bounded domain in R n with n ≥ 2, ∂Ω ∈ C 2,α and 0 < α < 1. We let Lu(x) = n i,k=1 a i,k (x) · u xix k (x) + n i=1 a i (x) · u xi (x) + a(x) · u(x) = f (x) to be a linear elliptic differential equation of second order with coefficients a ik , a i , a, f ∈ C 0,α (Ω) and a(x) ≤ 0 for all x ∈ Ω. The paper of J. Schauder " ¨ Uber lineare elliptische Differentialglei...

It is shown that smooth spatial paths for non-redundant serial robots can always be smoothly reparameterized in the vicinity of kinematic singularities with finite root multiplicity using a Puiseux series (i.e., fractional power series). This reparameterization, based on the algebraic structure of the manipulator kinematics, is formed using the -th root of the distance of the path parameter to ...

The problem of determining the inputs to the rotary axes of a 5–axis CNC machine is addressed, such that relative variations of orientation between the tool axis and surface normal are minimized subject to the constraint of maintaining a constant cutting speed with a ball-end tool. In the context of an orientable–spindle machine, the results of a prior study are directly applicable to the solut...

Qualitative spatial reasoning has seen little progress This paper attempts to explain why We provide a framework for qualitative kinematics (QK), qualitative spatial reasoning about motion We propose that no general-purpose, purely qualitative kinematics exists. We propose instead the MD/PV model of spatial reasoning, which combines the power of diagrams with qualitative representations Next we...

This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inversekinematic problems. We present a catalog of solutions for all underactuated systems on SE(2), SO(3) and SE(2) × R classified according to their controllability properties.

We study the deformed kinematics of point particles in the Hořava theory of gravity. This is achieved by considering particles as the optical limit of fields with a generalized Klein-Gordon action. We derive the deformed geodesic equation and study in detail the cases of flat and spherically symmetric (Schwarzschild-like) spacetimes. As the theory is not invariant under local Lorenz transformat...