Abstract Aiming at the problem of forward tracking guidance munitions with missile body characteristics intercepting maneuvering targets, and to improve hit accuracy system, this paper proposes an adaptive super-twisting sliding mode algorithm considering impact first-order overload input saturation limitation. Firstly, nonlinear model system is made by kinematic relation for projectile-target,...

This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the op...

Comparing with the serial ones, parallel manipulators have potential advantages in terms of high stiffness, accuracy and speed (Merlet, 2001). Especially the high accuracy and speed performances make the parallel manipulators widely applied to the following fields, like the pick-and-place operation in food, medicine, electronic industry and so on. At present, the key issues are the ways to meet...

In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula. Position and orientation output error forward kinematics model was obtained by the differential transformation on the basis of inverse kinematic solution of the position. The ...

The calibration scheme of robot forward kinematics presented in this paper has a number of features. Firstly, robot kinematic errors are modeled in a recursive format and as such, the number of measurements that need to be taken for calibration can be determined by studying the rate of convergence of estimation error covariance. Secondly, a simplified adaptive filtering algorithm is used to dea...

An abstract recurrent neural network trained by an unsupervised method is applied to the kinematic control of a robot arm. The network is a novel extension of the Neural Gas vector quantization method to local principal component analysis. It represents the manifold of the training data by a collection of local linear models. In the kinematic control task, the network learns the relationship be...

This study evaluated kinematic, vertical ground reaction forces, and strength variables in healthy collegiate female basketball, volleyball, and soccer players compared with matched male subjects. Thirty athletes did single-leg landing and forward hop tasks. An electromagnetic tracking device synchronized with a force plate provided kinematic data and vertical ground reaction force data, respec...

ABSTRACT: The solving method of positions and attitudes of discrete solder joints in a curved weld and the method for constructing a weld coordinate system based on Frenet-Serret’s vector were put forward and the position and orientation vectors relative to time series of discrete welding points were obtained. Thus the relative position and orientation between welding point and welding torch wi...

An e cient parallel algorithm for forward dynam ics computation of human gures is to be proposed The algorithm is capable of handling any kinematic chains including structure varying ones The asymp totic complexity of the algorithm is O N in serial computation and O logN in parallel computation on O N processors for most practical kinematic chains The idea is to assemble a kinematic chain by ad...