In this paper, an experimental method is proposed to identify the relationship between the actuator space and joint space of an industrial robot, KUKA KR5. The mathematical model in the form of matrix relating the actuator and joint space is termed as “structure matrix”. This matrix is useful in identifying the robot’s architecture for the transfer of motion. Further, the torques required to ba...

When robots are controlled in the task space, singularities and joint limits are among the most critical and difficult issues that can arise. In this paper, we propose a new approach for the robots to operate in the regions near singularities and joint limits using the operational space control framework. Specifically, a continuous task transition algorithm called the intermediate desired value...

Effective design of planograms in a retail store can improve the visual representation products on shelves. Existing approaches, however, assume that shelf length and height are fixed, which result unused space planogram suboptimal assignment product facings, both resulting reduced revenue for retailer. To address this real-world challenge, we introduce joint allocation (JSD-SSA) problem, deter...

Antenna diversity is an effective technique for improving the transmission performance in a multi-path fading channel. Recently, transmit diversity has been attracting much attention since it can alleviate the complexity problem of the mobile terminals. Joint transmit diversity/receive diversity achieves a much improved transmission performance. In this paper, we propose a new space-time block ...