The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions SE(3). The associated Jacobian matrices map into its Lie algebra se(3), the space of twists describing infinitesimal motion of a rigid body. Control methods generally require knowledge of an inverse for the Jacobian. However for an arm with fewe...

To tackle the singularity problem, the SC (SingularityConsistent) approach was introduced. It achieves very stable control at and around a singularity with feasible joint velocities and no directional error in the endeffector velocity. This approach is very suited for a direct manual teleoperation system because of its errorless character for the direction. Until now, it was applied for the tel...

This paper proposes a new haptic device using a parallel mechanism with gimbal type actuators. This device has three legs actuated by 2-DOF gimbal mechanisms, which make the device simple and light by fixing all the actuators to the base. Three extra sensors are placed at passive joints to obtain a unique solution of the forward kinematics problem. The proposed haptic device is developed for an...

The inverse kinematics (IK) problem of continuum robots has been investigated in depth the past decades. Under constant-curvature bending assumption, closed-form IK solution obtained for with variable segment lengths. Attempting to close gap towards a complete solution, this letter presents an efficient 2-segment one or two inextensible segments (a.k.a, constant lengths). Via representing robot...

The instantaneous kinematic analysis of a manipulator defines the direction and magnitude (translational and rotational) of impending motion at a specific point in time. This analysis is position dependent, and assumes apriori knowledge of the position information. From the position kinematic analysis, a kinematic transformation between joint space and tool space can be represented as: ( ) x = ...

Among offshore hydrocarbon exploration technologies, the controlled source electromagnetic (CSEM) method have gained a lot of interest in both academia and industry because of its ability to detect hydrocarbon reservoirs [1]. In order to maximally extract information from the data, a full nonlinear inversion approach is employed [2]. In such an approach, the investigation domain is subdivided i...

Many ordinary diierential equation and diierential algebraic equation codes terminate the nonlinear iteration for the corrector equation when the diierence between successive iterates (the step) is suuciently small. This termination criterion avoids the expense of evaluating the non-linear residual at the nal iterate. Similarly, Jacobian information is not usually computed at every time step, b...

this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

a watermarking scheme for Grayscale image isproposed based on a family of the chaotic maps and discretecosine transform. Jacobian Elliptic mapis employed to encrypt ofwatermarked logo. Piecewise nonlinear chaotic map is also usedto determine the location of DCT coefficients for the watermarkembedding. The purpose of this algorithm is to improve theshortcoming of watermarking such as small key s...