A Jacobian condition for interiority.

A fuzzy approximation to the Jacobian condition number

This paper presents a method to approximate the Jacobian condition number based on computational intelligence methods by training a fuzzy system. To start with, a brief overview of the concept of robotic isotropy and the use of Jacobian norms to characterize the dexterity of a robot is presented. Then, the computational cost of the condition number is shown for both the l2-norm and the Frobeniu...

Jacobian, Manipulability, Condition Number and Accuracy of Parallel Robots

Parallel robots are nowadays leaving academic laboratories and are finding their way in an increasingly larger number of application fields such as telescopes, fine positioning devices, fast packaging, machine-tool, medical application. A key issue for such use is optimal design as performances of parallel robots are very sensitive to their dimensioning. Optimal design methodologies have to rel...

A COMMUTATIVITY CONDITION FOR RINGS

In this paper, we use the structure theory to prove an analog to a well-known theorem of Herstein as follows: Let R be a ring with center C such that for all x,y ? R either [x,y]= 0 or x-x [x,y]? C for some non negative integer n= n(x,y) dependingon x and y. Then R is commutative.

A Necessary Condition for Weyl-Heisenberg Frames

An Improved Diagonal Jacobian Approximation via a New Quasi-Cauchy Condition for Solving Large-Scale Systems of Nonlinear Equations

We present a new diagonal quasi-Newton update with an improved diagonal Jacobian approximation for solving large-scale systems of nonlinear equations. In this approach, the Jacobian approximation is derived based on the quasi-Cauchy condition. The anticipation has been to further improve the performance of diagonal updating, by modifying the quasi-Cauchy relation so as to carry some additional ...