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...

We review a three-dimensional formalism that provides a systematic way to include relativistic effects including relativistic kinematics, the effects of negativeenergy states, and the boosts of the two-body system in calculations of two-body bound-states. We then explain how to construct a conserved current within this relativistic three-dimensional approach. This general theoretical framework ...

We introduce a novel method to build multiple local regression models based on the prototype vectors of the SOM network and other well-known vector quantization (VQ) algorithms. The resulting models are evaluated in the task of identifying the inverse dynamics of a heat exchanger data set. Additionally, we evaluate through statistical hypothesis testing the influence of the VQ algorithm on the ...

The continue-time unscented Kalman filter (UKF) is developed to estimate the state of a jet transport aircraft. The UKF is based on the nonlinear longitudinal aircraft equations of motion, and it is designed to provide estimates of horizontal and vertical atmospheric wind inputs. The optimal state and disturbance estimates are incorporated in feedback control laws based on the slowand fast-time...

This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position ...

Precise task-space tracking with manipulator-type systems requires an accurate kinematic model. In contrast to traditional manipulators, sometimes it is difficult to obtain an accurate kinematic model of humanoid robots due to complex structure and link flexibility. Also, prolonged use of the robot will lead to some parts wearing out or being replaced with a slightly different alignment, thus t...

2 Special relativity 4 2.1 Motivation for special relativistic kinematics in place of Newtonian kinematics . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.2 Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.3 Axiomatization Specrel of special relativity in first-order logic 15 2.4 Characteristic differences between Newtonian and special relativistic kinematics . . . ...

The In this paper a novel hybrid evolutionary algorithm (HEA) method is used to find optimal feedback gains for inverse dynamics controllers. It is shown that HEA efficiently finds the optimal feedback gains to improve the performances of inverse dynamics controllers for end-effector tracking control in highly complex, nonlinear, multi-arm manipulator systems. The feedback gain tuning is studie...

An important missing piece in the medical robotics literature is the lack of systematic methods to quantitatively compare different manipulator designs, and to evaluate kinematic configurations chosen for telesurgical manipulators in application-critical tasks. Such a quantitative method is especially important during design stage to make an informed decision between various design alternatives...