Titlebook: RoManSy 9; Proceedings of the N A. Morecki,G. Bianchi,K. Jaworek Conference proceedings 1993 Springer-Verlag London 1993 Normal.control.opt

Influx

RALES

The semigraphical determination of all real inverse kinematic solutions of general six-revolute manactual solutions. The proposed method is applicable even in the case of .. Moreover, the contours provide information on the numerical conditioning of each solution. These concepts are illustrated with some numerical examples.

保存

An approach to symbolic kinematics of multiloop robot mechanisms,ities involved in the modeling steps are given. The algorithm computes the kinematic constraints between all couples of links in the robot mechanism in order to provide mobility information (e.g., dependencies on drivers, types and geometric properties of the relative displacements).

舊石器

,Analytical form solution of the direct kinematics of a 4–4 fully in-parallel actuated six degree-ofand, after eliminating the unwanted unknowns, a final 8th order equation in only one unknown is obtained. Hence, the maximum number of possible real closures of the 4–4 structure is sixteen. Numerical examples are reported which illustrate and confirm the new theoretical result.

Handedness

Characterization of redundancy in spatial closed kinematic chains,s. The general problem of n contact points of a kinematic chain in three dimensions is considered. Further, degenerate situations occurring due to the presence of several points along a line, or on a plane, are also addressed. Numerical examples are considered to illustrate the use of these algorithms.

cardiac-arrest

Parallel computing of symbolic robot models and control laws: Theory and application on advanced mualgorithms take into account both the load balancing and the communication overhead during execution of scheduled tasks. Experimental results on transputer based pipeline and parallel architectures and on an array processor are presented.

SEEK

,Some effects of the joint’s drive systems torsional compliances and the velocity profiles on the 5R systems compliances have been calculated on the basis of the static measurement results. The end-effector oscillations measured by using piezoelectric accelerometer are compared with the results of computer simulation. The effects of the joint compliances and velocity profiles have been analysed.

Ingenuity

Comparing structures of stiffness matrices using invariants,hown to dictate the possibilities for the second derivative of potential energy, that is, whether potential energy is concave-up, concave-down, or passing through an inflection point or through a saddle point.

Prostaglandins

Geometrical decomposition of robot elasticity,onal elements are the stationary values of linear and rotational compliance and stiffness. This generalizes and is analogous to principal axes and principal values for stress, strain, and rotational inertia. It is proved that the decomposition always exists for both the nonsingular and singular cases.

昏睡中