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Full-Text Articles in Social and Behavioral Sciences
A Singularity Free Trajectory Tracking Method For The Cooperative Working Of Multi-Arm Robots Using Screw Theory, Emre Sariyildiz, Hakan Temeltas
A Singularity Free Trajectory Tracking Method For The Cooperative Working Of Multi-Arm Robots Using Screw Theory, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
In this paper we present a singularity free trajectory tracking method for the cooperative working of multi-arm robot manipulators. It is based on an inverse kinematic transformation which determines the manipulator's joint angles corresponding to the end-effector trajectory given in the task space. The kinematic problem of multi-arm robot system is solved by using screw theory and quaternion algebra. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. Dual-quaternion is the most compact and efficient dual operator to express screw displacement. Inverse kinematic solutions …
Twisted Cyclic Theory, Equivariant Kk-Theory And Kms States, Alan L. Carey, Sergey Neshveyev, R Nest, Adam Rennie
Twisted Cyclic Theory, Equivariant Kk-Theory And Kms States, Alan L. Carey, Sergey Neshveyev, R Nest, Adam Rennie
Faculty of Engineering and Information Sciences - Papers: Part A
Given a C-algebra A with a KMS weight for a circle action, we construct and compute a secondary invariant on the equivariant K-theory of the mapping cone of AT ,! A, both in terms of equivariant KK-theory and in terms of a semifinite spectral flow. This in particular puts the previously considered examples of Cuntz algebras [10] and SUqð2Þ [14] in a general framework. As a new example we consider the Araki-Woods IIIl representations of the Fermion algebra.
Spectral Triples: Examples And Index Theory, Alan L. Carey, John Phillips, Adam C. Rennie
Spectral Triples: Examples And Index Theory, Alan L. Carey, John Phillips, Adam C. Rennie
Faculty of Engineering and Information Sciences - Papers: Part A
The main objective of these notes is to give some intuition about spectral triples and the role they play in index theory. The notes are basically a road map, with much detail omitted. To give a complete account of all the topics covered would require at least a book, so we have opted for a sketch.
A Comparative Study Of Three Inverse Kinematic Methods Of Serial Industrial Robot Manipulators In The Screw Theory Framework, Emre Sariyildiz, Eray Cakiray, Hakan Temeltas
A Comparative Study Of Three Inverse Kinematic Methods Of Serial Industrial Robot Manipulators In The Screw Theory Framework, Emre Sariyildiz, Eray Cakiray, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part B
In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, the first one is based on quaternion algebra, the second one is based on dual-quaternions, and the last one that is called exponential mapping method is based on matrix algebra. Compared with the matrix algebra, quaternion algebra based solutions are more computationally efficient and they need …