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Full-Text Articles in Social and Behavioral Sciences
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 …
Feasibility Study Of Microgrid Application In Langkawi And Socotra Islands, Ahmed Haidar
Feasibility Study Of Microgrid Application In Langkawi And Socotra Islands, Ahmed Haidar
Faculty of Engineering and Information Sciences - Papers: Part A
Alternative Energy is becoming a popular and an essential energy resource in the current century. This paper investigates the effect of using a hybrid microgrid system in Langkawi and Socotra Islands. Configuration of the optimal hybrid system is selected based on the best components and its sizing with appropriate operation strategy to provide a cheap efficient, reliable and cost effective system. The total net present cost for the two Islands has been determined using HOMER program based on the Island’s data. This finding will help to install sources of renewable energy in places that will ensure low cost and performance …