This paper proposes a systematic method to identify the joint zero offset of industrial robot. Small offset always exist in robot joint, which affect the precision in kinematic equations leading to calculate wrong joint angle values. To solve these problems, the proposed method employs a portable dual Position Sensitive Detector (PSD) device and a focusable laser point (FLP). The portable dual ...

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

Monaural speech separation is a significant research field in signal processing. To achieve better performance, we propose three novel joint-constraint loss functions and multiple function for monaural based on dual-output deep neural network (DNN). The DNN model not only restricts the ideal ratio mask (IRM) errors of two outputs, but also constrains relationship estimated IRMs magnitude spectr...

A fast algorithm for the large-scale joint inversion of gravity and magnetic data is developed. It uses a nonlinear Gramian constraint to impose correlation between density susceptibility reconstructed models. The global objective function formulated in space weighted parameters, but implemented original space, imposed using two separate Lagrange one each model domain. This combined approach pr...

This paper presents a novel approach to plan the optimal joint trajectory for a manipulator robot performing constrained motion tasks. In general, a two-step scheme will be deployed to find the optimal robot joint curve. Firstly, instead of solving a nonlinear, implicit EulerLagrange equation, we discretize the corresponding cost function and use Newton’s iterations to numerically calculate the...