In this paper we present the results obtained in solving consistent sparse systems of n nonlinear equations F (x) = 0; by a Quasi-Newton method combined with a p block iterative row-projection linear solver of Cimmino-type, 1 p n: Under weak regularity conditions for F; it is proved that this Inexact Quasi-Newton method has a local, linear convergence in the energy norm induced by the precondit...

Motion planning and redundancy resolution of a multi-segment continuum robot is studied. The direct and inverse kinematics model of the robot is derived assuming a constant radius of curvature in each flexible segment of the robot. Due to the primary and secondary backbone structure of the segment, each segment is modelled by two configuration variables and three joint space variables. This int...

In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character having controller and manipulator based rig for animation within any 3D modeling and animation software. The seamless matching has been achieved through the us...

We bound the condition number of the Jacobian in pseudo arclength continuation problems, and we quantify the effect of this condition number on the linear system solution in a Newton GMRES solve. In pseudo arclength continuation one repeatedly solves systems of nonlinear equations F (u(s), λ(s)) = 0 for a real-valued function u and a real parameter λ, given different values of the arclength s. ...

 Y. Yang, MS student and author of correspondence, Phone: +86-10-8233-8273, Fax: +86-10-8233-8023, Email: [email protected].  Y. Zhang, Professor and author of correspondence, Phone: +86-10-8233-8023, Fax: +86-10-8233-8023, Email: [email protected]. ABSTRACT This paper presents a procedure to obtain a singularity-free task workspace with a new method to deal with singularities. In order to ...

Abstract A new, analytical approach using the cumulant method is proposed for three-phase probabilistic power-flow (PPF) analysis. The to forming sensitivity matrix based on quantifying pseudo-inverse instead of inverse jacobian matrix, since it commonly singular in a distribution power network. results are compared with those obtained point-estimate (PEM) and Monte Carlo (MC) method, which use...

This paper deals with the Efficient Second orderMinimization (ESM) and the image-based visual servoing schemes. In other words, it deals with the minimization based on the pseudo-inverse of the mean of the Jacobians or on the mean of Jacobian Pseudo-inverses. Chronologically, it has been noticed in Tahri and Chaumette (2003) [22] thatESM generally improves the systembehaviorwhen comparedwith th...

An inverse kinematics solution that utilizes the differential felationship between the joint space and Cartesian space of redmdant manipulators is proposed. Until now, this solution can' be obtained using the pseudo-inverse of the Jacobian matrix. However the computation of the pseudoinverse is complex so that it is not easy to be implemented on a digital computer for on-line motion planning of...

We look at multigrid methods for unsteady viscous compressible flows. We specifically target smoothers that can be used in parallel and without computation of a Jacobian, which are particlarly attractive candidates in the context of Discontinuous Galerkin discretizations. In CFD, a plethora of nonlinear smoothers have been suggested which are hard to analyze. Our methodology is to use a linear ...

In this paper, theoretical and experimental implementation of heave compensation on a redundant hydraulically actuated manipulator with 3-dof has been carried out. The redundancy is solved using the pseudo-inverse Jacobian method. Techniques for minimizing velocities and avoiding mechanical joint saturations is implemented in the null space joint motion. Model based feed-forward, combined with ...