In recent years, biodiesel has been considered as a good alternative of diesel fuels. Density and viscosity are two important properties of these fuels. In this study, density and kinematic viscosity of biodiesel-diesel blends were estimated by using artificial neural network (ANN). A three-layer feed forward neural network with Levenberg-Marquard (LM) algorithm was used for learning empirical ...

The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with circular guide. In comparison known schemes such manipulators, structure one excludes collision carriages when they move along This is achieved by using cranks (links that provide an unlimited rotational angle) in chains. this case, all drives stay fixed base. provides analytical ...

In this paper, kinematic modeling and singularity and stiffness analysis of a 3-d.o.f. redundant parallel manipulator have been elaborated in detail. It is known that, contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled non-linear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting...

relationships in such a way as to yield a system of equations which describes the velocity and angular velocity of the manipulated object as functions of the robot's joint velocities. The inverse kinematic problem results in a system of equations describing the joint velocities as functions of the object's translational and angular velocities. In both cases it is assumed that the positions of t...

In recent years, biodiesel has been considered as a good alternative of diesel fuels. Density and viscosity are two important properties of these fuels. In this study, density and kinematic viscosity of biodiesel-diesel blends were estimated by using artificial neural network (ANN). A three-layer feed forward neural network with Levenberg-Marquard (LM) algorithm was used for learning empirical ...

The following presents a standardized approach to the kinematics of a generalized stereo robot head, providing both forward and inverse kinematic solutions as well as a discussion on the head Jacobian. The paper is intended as a comprehensive tutorial and as a standard notation reference for researchers in the field of active vision.

We present a neural method that computes the inverse kinematics of any kind of robot manipulators, both redundant and non-redundant. Inverse kinematics solutions are obtained through the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics. The inversion provides difference vectors in the joint space from difference vectors in the work...

The calculation of forces in the kinematic pairs of mechanisms by inverse dynamics is usually performed without friction considerations. In practice, when examination of articulated mechanisms takes into account friction, the solution of the inverse dynamics results in a complex procedure. If a modular approach for the inverse dynamics is used, then exact solutions are available, but not necess...

This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based on introducing kinematic constraints....