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Full-Text Articles in Computer Engineering
Globally Optimal Periodic Robot Joint Trajectories, Daniel J. Simon
Globally Optimal Periodic Robot Joint Trajectories, Daniel J. Simon
Electrical and Computer Engineering Faculty Publications
This paper presents a new method for the planning of robot trajectories. The method presented assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and thus is particularly suited for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived in this paper is the ‘best’. The performance criterion used is the integral (over one period) of a combination of the square of the joint velocity and the square of …
Translation Of 'Profiles In Faith', Monish Ranjan Chatterjee
Translation Of 'Profiles In Faith', Monish Ranjan Chatterjee
Electrical and Computer Engineering Faculty Publications
Sarat Chandra Chatterjee (1876-1938) may be considered one of the three most significant figures of the literary component of the Bengal Renaissance, the other two being Bankim Chandra Chatterjee (1838-1894) and Rabindranath Tagore (1861-1941). As much as Bankim Chandra is identified with the new age in the Bengali novel, and the development of serious vernacular journalism, and Rabindranath with modern/classical movements in Bengali poetry and music, along with novel ideas in methods of education and teaching, Sarat Chandra, as a novelist and storyteller, perfected the art of narration and critical analyses of a variety of contemporaneous social and political issues, …