The trajectory-tracking control of a typical industrial robot with six revolute joints is studied, where the joint flexibility is taken into account. An explicit form of the control law is obtained by using the composite control technique. The stability of system is discussed. The global convergence of tracking error can be reached by tuning the controller parameters. This method has a unique a...

In this paper, we propose a novel deep unsupervised learning-based approach that jointly optimizes antenna selection and hybrid beamforming to improve the hardware spectral efficiencies of massive multiple-input-multiple-output (MIMO) downlink systems. By employing ResNet extract features from channel matrices, two neural networks, i.e., network (ASNet) (BFNet), are respectively proposed for dy...

Markov logic networks (MLNs) combine first-order logic and Markov networks, allowing us to handle the complexity and uncertainty of real-world problems in a single consistent framework. However, in MLNs all variables and features are discrete, while most real-world applications also contain continuous ones. In this paper we introduce hybrid MLNs, in which continuous properties (e.g., the distan...

This paper proposes a new notation for kinematic structures which allows a unified description of serial, parallel, and hybrid robots or articulated machine tools. During the past decades, the well-known Denavit-Hartenberg parameters have been used widely to describe serial kinematics of robots in science and industry. Till now, such a common notation for parallel manipulators has not yet been ...