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Full-Text Articles in Social and Behavioral Sciences
The Social And Behavioral Implications Of Location-Based Services, Katina Michael, M.G. Michael
The Social And Behavioral Implications Of Location-Based Services, Katina Michael, M.G. Michael
Associate Professor Katina Michael
The social and behavioral implications of location-based services (LBS) are only now beginning to come to light in advanced markets where the services have been adopted by just a little over half the market (Microsoft 2011). Depending on one’s definition of what constitutes location-based services, statistics on the level of adoption differ considerably. While it is helpful to provide as broad a list of applications as possible in what constitutes LBS (e.g. everything from in-vehicle navigation systems to downloading a map using a computer), it can also cloud the real picture forming behind this emerging technology. Emerging not in the …
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 …
Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
Differential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily implemented by using this method. In differential kinematic method, we use Jacobian as a mapping operator in the velocity space. Inversion of Jacobian matrix transforms the desired trajectory velocities, which are the linear and angular velocities of the end effector, into the joint velocities. The joint velocities are required to be integrated to obtain the …
A Comparison Study Of The Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
A Comparison Study Of The Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
Differential kinematic has a wide range application area in robot kinematics. The main advantage of the differential kinematic is that it can be easily implemented any kind of mechanisms. In differential kinematic method, Jacobian is used as a mapping operator in the velocity space. The joint velocities are required to be integrated to obtain the pose of the robot manipulator. This integration can be evaluated by using numerical integration methods, since the inverse kinematic equations are highly complex and nonlinear. Thus, the performances of the numerical integration methods affect the trajectory tracking application. This paper compares the performances of numerical …