There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

In this paper, we present a new method to handle inequality constraints and apply it in NOVEL (Nonlinear Optimization via External Lead), a system we have developed for solving constrained continuous nonlinear optimization problems. In general, in applying Lagrange-multiplier methods to solve these problems, inequality constraints are rst converted into equivalent equality constraints. One such...

Avants et al.’s goal in writing this paper is to propose a new deformable registration method and compare it to existing methods using brain MRI data. The method they propose is called symmetric image normalization (SyN). The method is meant to achieve better registration by maximizing cross correlation within the space of diffeomorphic maps, and the authors provide the Euler-Lagrange equations...

The polynomial interpolation in one dimensional space R is an important method to approximate the functions. The Lagrange and Newton methods are two well known types of interpolations. In this work, we describe the semi inherited interpolation for approximating the values of a function. In this case, the interpolation matrix has the semi inherited LU factorization.

This paper describes an approximating solution, based on Lagrange interpolation and spline functions, to treat functional integral equations of Fredholm type and Volterra type. This method can be extended to functional differential and integro-differential equations. For showing efficiency of the method we give some numerical examples.