Rank of loop, constraint degree of path, coupling degree of graph and their application

2005 ◽  
Vol 15 (2) ◽  
pp. 174-180 ◽  
Author(s):  
Yang Tingli ◽  
Luo Yufeng ◽  
Zhang Ce ◽  
Yao Fanghua
Keyword(s):  
Path Coupling ◽  
Loop Constraint

Integrated Kinematic Calibration for All the Parameters of a Planar 2DOF Redundantly Actuated Parallel Manipulator

2009 ◽  
Vol 1 (3) ◽  
Author(s):  
Chunshi Feng ◽  
Shuang Cong ◽  
Weiwei Shang
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Open Loop ◽  
Kinematic Calibration ◽  
Constraint Equations ◽  
Integrated Method ◽  
Uniqueness Of The Solution ◽  
Redundantly Actuated ◽  
Loop Constraint ◽  
Two Degree Of Freedom

In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop calibration guarantees the uniqueness of the solution. In the experiments, differential evolution is applied to compute the solution set, for its advantages in computing multi-optima. Experimental results show that all the parameters involved are calibrated with high accuracy.

Mixing times for the rook’s walk via path coupling

2017 ◽  
Vol 10 (1) ◽  
pp. 51-64
Author(s):  
Cam McLeman ◽  
Peter T. Otto ◽  
John Rahmani ◽  
Matthew Sutter
Keyword(s):  
Mixing Times ◽  
Path Coupling

Modeling of Overactuated Closed-Loop Mechanisms With Singularities: Simulation and Control

2001 ◽  
Author(s):  
Latchezar L. Ganovski ◽  
Paul Fisette ◽  
Jean-Claude Samin
Keyword(s):  
Closed Loop ◽  
Random Noise ◽  
Degree Polynomial ◽  
Modeling And Control ◽  
Lagrange Multiplier Technique ◽  
Redundantly Actuated ◽  
Feed Forward Controller ◽  
And Control ◽  
Loop Constraint ◽  
Coordinate Partitioning

Abstract The modeling and control of redundantly actuated closed-loop mechanical systems is considered in the present work an illustrated with a planar four-bar mechanism and a 3-D parallel manipulator. A specific trajectory involving singular configurations is generated and then followed using the overactuation. To generate the trajectory, four-degree polynomial functions are considered. The loop constraint equations are solved by means of the Newton-Raphson numerical algorithm. In order to describe the dynamics of the systems, the Lagrange multiplier technique is used. The multipliers are eliminated via the coordinate partitioning method. To overcome the underdetermined state of the system induced by the overactuation, additional equations that represent a specific condition for smoothly passing through the singularities are applied. Further, to control the redundantly actuated mechanisms a feed-forward controller is chosen. The robustness of the controller is investigated through several cases of simulation including random noise applied to the controller input and instantaneous loading.

On Camera Calibration with Linear Programming and Loop Constraint Linearization

2011 ◽  
Vol 97 (1) ◽  
pp. 71-90 ◽  
Author(s):  
Jérôme Courchay ◽  
Arnak S. Dalalyan ◽  
Renaud Keriven ◽  
Peter Sturm
Keyword(s):  
Linear Programming ◽  
Camera Calibration ◽  
Loop Constraint
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