Solution of forward kinematics in Stewart platform using six rotary sensors on joints of three legs A. Mahmoodi, A. Sayadi & Mohammad B. Menhaj a Department of Aerospace Engineering, Center of Excellence for Design and Simulation of Space Systems (DSSS), KNTU University of Technology, Vafadar Ave. Tehranpars., Tehran, Iran b Department of Mechanical Engineering, Azad Islamic University, Karaj B...

Given a compact orientable surface , let S(() be the set of iso-topy classes of essential simple closed curves in. We determine a complete set of relations for a function from S(() to R to be the geodesic length function of a hyperbolic metric with geodesic boundary on. As a consequence, the Teichm uller space of hyperbolic metrics with geodesic boundary on is reconstructed from an intrinsic co...

This paper presents a new methodology of using tetrahedron configurations to determine the forward kinematics of 6-dof parallel manipulators. The approach is introduced in the form of the Tetrahedron Proposition and Theorem using the special characteristics of tetrahedral geometry which are then applied to obtaining the kinematic solutions of two 6-dof parallel manipulators such as the Hunt-Pri...

We present our preliminary result for the charmed quark mass, which follows from taking the Ds and K meson masses from experiment and r0 = 0.5 fm (or, equivalently FK = 160 MeV) to set the scale. For the renormalization group invariant quark mass we obtain Mc = 1684(64) MeV, which translates to mc(mc) = 1314(40)(20)(7) MeV for the running mass in the MS scheme. Renormalization is treated non-pe...

This paper proposes a self-supervised model which enables a humanoid robot to learn to reach to visual targets. Only 400 training samples are used to learn a forward kinematic model of the 6 degree-of-freedom (DOF) arm. The forward model is represented compactly with just 150 hidden neurons and enables high accuracy reaching in real-time. We provide an optimization process for the learning para...

This paper presents a kinematic analysis of a parallel manipulator we have been developing for the probing task application that requires high bandwidth, active compliance, and high precision. Based on the concept of macro/micro manipulators, the parallel manipulator serves as a wrist of a macro manipulator. The developed manipulator is a class of in-parallel platforms with 3 PRPS( prismatic-re...

The advancement of microminiaturization and technologies has motivated the search for a technique that will permit precision manipulation on the scale of micrometers. This paper presents the development of a three-degrees-of-freedom (DOF) micromotion in-parallel actuated manipulator. The micromotion manipulator, which has one translation and two orientation freedoms, is actuated by piezoelectri...

The forward kinematic model (FKM) of a redundantly actuated robot is not unique: if each actuator is equipped with an encoder, there are more joint data than strictly necessary for computing nacelle position. It is then possible to fuse competitive data to find the nacelle position. This paper proposes then a method based on a probabilistic approach to determine how computing the FKM to obtain,...

Autonomy and flexibility are two major requirements for modern robots. In particular, humanoid robots should learn new skills incrementally through autonomous exploration, and adapt to di erent contexts. In this paper we consider the problem of learning forward models for task space control under dynamically varying kinematic contexts: the robot learns incrementally and autonomously its forward...

This paper proposes a Finger-Knuckle-Print (FKP) recognition algorithm using Band-Limited Phase-Only Correlation (BLPOC)-based local block matching. The phase information obtained from 2D Discrete Fourier Transform (DFT) of images contains important information of image representation. The phase-based image matching, especially BLPOC-based image matching, is successfully applied to image recogn...