In this paper, an algorithm based on the Drazin generalized conjugate residual (DGMRES) algorithm is proposed for computing the group-inverse solution of singular linear equations with index one. Numerical experiments show that the resulting group-inverse solution is reasonably accurate and its computation time is significantly less than that of group-inverse solution obtained by the DGMRES alg...

Robotica / Volume 33 / Issue 04 / May 2015, pp 747 767 DOI: 10.1017/S0263574714000538, Published online: 13 March 2014 Link to this article: http://journals.cambridge.org/abstract_S0263574714000538 How to cite this article: Masayuki Shimizu (2015). Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specied unconstrained orientation of end-effector. Robotica, 33, pp ...

In this paper, we present an integrated framework with easy and effective techniques to generate new motions of a character in real-time, using only a short segment of motion data. In this framework, a sequence of segment copies are strung together and then smoothed by a transition method at a junction of two consecutive segments. We use IK thought for the transition to solve the foot-slide pro...

PROBE (Progressive Removal of Blur Residual) is a recursive framework for blind deblurring. Using the elementary modified inverse filter at its core, PROBE’s experimental performance meets or exceeds the state of the art, both visually and quantitatively. Remarkably, PROBE lends itself to analysis that reveals its convergence properties. PROBE is motivated by recent ideas on progressive blind d...

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Instantaneous poles are the spherical counterparts of instant centers; however, they are not completely used to study the kinematic behavior of spherical mechanisms. Instantaneous kinematics of a mechanism becomes undetermined when it is in a singular configuration (singularities); this indeterminacy has undesirable effects on static and motional behavior of the mechanism, so these configuratio...

We propose a novel Inverse Kinematics based deformation method that introduces flexibility and parameterization to motion graphs without degrading the quality of the synthesized motions. Our method deforms the transitions of a motion graph-like structure by first assigning to each transition a continuous rotational range that guarantees not to exceed the predefined global transition cost thresh...

It is proved that the Newton-Sabatier (NS) procedure is not a valid inversion method, in the following sense: 1) it is not possible to carry this procedure through for the phase shifts corresponding to a q ∈ L 1,1 such that ∞ 0 rq(r)dr = 0, where L 1,1 := {q : q = q, ∞ 0 r|q(r)|dr < ∞, 2) the ansatz (*) K(r, s) = ∞ l=0 c l ϕ l (r)u l (s), ∞ l=0 |c l | < ∞, similar to the one used in the NS proc...

We have measured the He(e, ep)H reaction at missing momenta of 130-300 MeV/c using the three-spectrometer facility at the Mainz microtron MAMI. Data were taken in perpendicular kinematics to allow us to determine the response function RLT and the asymmetry term ATL. The data are compared to both relativistic and non-relativistic calculations.