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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.