Read e-book online Interdisciplinary Applications of Kinematics: Proceedings of PDF

By Andrés Kecskeméthy, Francisco Geu Flores

ISBN-10: 3319107224

ISBN-13: 9783319107226

ISBN-10: 3319107232

ISBN-13: 9783319107233

This e-book collects a couple of very important contributions awarded throughout the moment convention on Interdisciplinary functions of Kinematics (IAK 2013) held in Lima, Peru. The convention introduced jointly scientists from numerous study fields, comparable to computational kinematics, multibody platforms, business machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration research, and embraced all key points of kinematics, particularly, theoretical tools, modeling, optimization, experimental validation, commercial purposes, and design.

Kinematics is a thrilling region of computational mechanics and performs a principal function in a good number of fields and business purposes these days. except examine in natural kinematics, the sector offers with difficulties of sensible relevance that have to be solved in an interdisciplinary demeanour to ensure that new applied sciences to develop.

The effects offered during this e-book could be of curiosity for training and learn engineers in addition to Ph.D. scholars from the fields of mechanical and electric engineering, computing device technological know-how, and laptop graphics.

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Extra info for Interdisciplinary Applications of Kinematics: Proceedings of the International Conference, Lima, Peru, September 9-11, 2013

Example text

We make use of the fact that for a set of three twists, there is an algebraic–geometric duality with the corresponding set of Lie brackets, so that link lengths of one correspond to offsets of the other. Keywords Euclidean group · Denavit–Hartenberg parameters · Polynomial invariants · Dual numbers 1 Introduction The kinematics of serial chains are usually modelled either by the Denavit–Hartenberg notation (Denavit and Hartenberg 1955) or by the product of exponentials notation. In fact, Brockett (1984) showed how the two are related to one another.

Ilies · K. edu M. edu H. edu K. edu © Springer International Publishing Switzerland 2015 A. Kecskeméthy and F. 1007/978-3-319-10723-3_6 53 54 M. Huber et al. muscle weakness due to knee conditions while allowing full range of motion is not readily available. Some work has been done in the areas of fully active braces (Ferris et al. 2005), orthoses applying MR brakes to provide muscle support (Chen and Liao 2010; Lemaire et al. 2009), and stance-control orthoses involving springs (Irby et al. 2005).

Within both subsections, we split the design procedure into three subsubsections; Sects. 1 contain the formulations for the distance functions, respectively. In Sects. 2, we derive the corresponding gradients. Consequently, we propose the associated control laws in Sects. 3 and investigate their convergence properties. We conclude the paper in Sect. 4. Two Gradient-Based Control Laws on SE(3) Derived from Distance Functions 33 2 Preliminaries and Problem Statement In this section, we briefly sketch some facts about the special Euclidean group as well as the problem under investigation.

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Interdisciplinary Applications of Kinematics: Proceedings of the International Conference, Lima, Peru, September 9-11, 2013 by Andrés Kecskeméthy, Francisco Geu Flores


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