In this paper, we discuss an inherent problem occurring in former operational-based compliance control scheme. In order to obviate this problem, an independent joint-based compliance control scheme is proposed. This control method requires that for the adjustment of the operational compliance matrix, a manipulator should have at least the same number of joints as the number of independent compo...

in this paper, a new and ecient approach is applied for numerical approximationof the linear dierential equations with variable coecients based on operational matriceswith respect to hermite polynomials. explicit formulae which express the hermite expansioncoecients for the moments of derivatives of any dierentiable function in terms of theoriginal expansion coecients of the function itse...

The multidimensional exponential Levy equations are used to describe many stochastic phenomena such as market fluctuations. Unfortunately in practice an exact solution does not exist for these equations. This motivates us to propose a numerical solution for n-dimensional exponential Levy equations by block pulse functions. We compute the jump integral of each block pulse function and present a ...

‎‎‎‎‎‎‎‎‎‎‎‎‎This paper aims to construct a general formulation for the shifted Jacobi operational matrices of integration and product‎. ‎The main aim is to generalize the Jacobi integral and product operational matrices to the solving system of Fredholm and Volterra integro--differential equations‎ which appear in various fields of science such as physics and engineering. ‎The Operational matr...

In this article, we apply the operational matrix to find the numerical solution of two- dimensional nonlinear Volterra integro-differential equation (2DNVIDE). Form this prospect, two-dimensional shifted Legendre functions (2DSLFs) has been presented for integration, product as well as differentiation. This method converts 2DNVIDE to an algebraic system of equations, so the numerical solution o...

andApplied Analysis Hindawi Publishing Corporationhttp://www.hindawi.comVolume 2013 ISRNAppliedMathematics Hindawi Publishing Corporationhttp://www.hindawi.comVolume 2013Hindawi Publishing Corporationhttp://www.hindawi.comVolume 2013International Journal ofCombinatorics Hindawi Publishing Corporationhttp://www.hindawi.comVolume 2013Jou...

in this paper, a new numerical method for solving fractional optimal control problems (focps) is presented. the fractional derivative in the dynamic system is described in the caputo sense. the method is based upon biorthogonal cubic hermite spline multiwavelets approxima-tions. the properties of biorthogonal multiwavelets are first given. the operational matrix of fractional riemann-lioville i...

This paper describes a n efficient recursive algorithm f o r the computation of the extended operational space inertia matr ix of a n n-link branching (tree-like) redundant robotic mechanism with multiple operational points. T h e proposed algorithm behaves linearly with respect t o n in practice. Therefore, as the number of links increases, this algorithm performs significantly better than the...

In this research, the Bernoulli polynomials are introduced. The properties of these polynomials are employed to construct the operational matrices of integration together with the derivative and product. These properties are then utilized to transform the differential equation to a matrix equation which corresponds to a system of algebraic equations with unknown Bernoulli coefficients. This met...