One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...

Objectives: The purpose of this study was to compare scapular kinematics during elevation phase of abduction, flexion, and scapular plane elevation phase between fifteen persons with shoulder impingement syndrome (SIS) and thirteen persons without it. Methods: Values of scapular kinematics include scapular superior and lateral translations, upward rotation, external rotation, and posterior t...

Most researches so far on robot control have assumed that the exact kinematics and Jacobian matrix of the manipulator from joint space to Cartesian space are known. Unfortunately, no physical parameters could be derived exactly. In addition, the robot is required to interact with its environment and hence the overall parameters would change according to different tasks. In this paper, simple fe...

The wheel loader is modeled as a mechanical manipulator with four degrees of freedom (DOFs), which comprises a seven-bar linkage using the symbolic notation of Denavit and Hartenberg. Homogeneous transformation matrices are used to capture the spatial configuration between adjacent links. The forward kinematics method is used to formulate the kinematics equations by attaching Cartesian coordina...

Significant fraction of barred galaxies hosts secondary bar-like structures on optical and NIR images. The circumnuclear dynamics of double-barred objects are still not well understood, observational data concerning kinematics are incomplete and inconsistent. In order to compare the simulations results with observations, we have started new spectroscopic studying of stellar kinematics in lentic...

Exterior calculus and moving frames are used to describe curved elastic shells. The kinematics follow from the Lie-derivative on forms whereas the dynamics via stress-forms.

Swallowing difficulty is a common complaint in the elderly and, although there are data for the biomechanics of liquid swallows, little is known about solid bolus motion, or kinematics, in the elderly. The aims of this study were as follows: 1) to characterize and compare solid and liquid bolus kinematics in the elderly and compare the findings with those in young subjects and 2) to correlate b...

An optimal maximum-likelihood technique for computing point-source image centroids from many, slightly o set, CCD frames is presented. The method is especially useful for measuring stellar proper motions from data taken with the Wide Field and Planetary Camera aboard the HST, and also provides a means to identify very compact non-stellar sources. We work though the example problem of obtaining ...