Classification structure and compliance modeling for serial manipulators

2002 ◽  
Author(s):  
J. Hudgens ◽  
D. Cox ◽  
D. Tesar
Keyword(s):  
Serial Manipulators ◽  
Compliance Modeling ◽  
Classification Structure

scholarly journals Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

2021 ◽  
pp. 1-1
Author(s):  
Michael Fennel ◽  
Antonio Zea ◽  
Johannes Mangler ◽  
Arne Roennau ◽  
Uwe D. Hanebeck
Keyword(s):  
Haptic Rendering ◽  
Robot Programming ◽  
Serial Manipulators

scholarly journals Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110144
Author(s):  
Qianqian Zhang ◽  
Daqing Wang ◽  
Lifu Gao
Keyword(s):  
Differential Evolution ◽  
Objective Function ◽  
Inverse Kinematics ◽  
Differential Evolution Algorithm ◽  
Weight Coefficient ◽  
Adaptive Mutation ◽  
Feasible Region ◽  
Serial Manipulators ◽  
De Algorithm ◽  
Self Adaptive

To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

Ferrite

2021 ◽  
Keyword(s):  
High Frequency ◽  
Biomedical Applications ◽  
Organic Dyes ◽  
High Tech ◽  
Hexagonal Ferrites ◽  
Wastewater Remediation ◽  
Structure Synthesis ◽  
Synthesis Properties ◽  
Photocatalytic Applications ◽  
Classification Structure

Ferrites are highly interesting high-tech materials. The book covers their classification, structure, synthesis, properties and applications. Emphasis is placed an biomedical applications, degradation of organic pollutants, high frequency applications, photocatalytic applications for wastewater remediation, solar cell applications, removal of organic dyes and drugs from aquatic systems, and the synthesis of hexagonal ferrites.

SARS-COV-2 CORONAVIRUS: NOMENCLATURE, CLASSIFICATION, STRUCTURE, HISTORY, SYMPTOMS EPIDEMIOLOGY, PATHOGENESIS, ETIOLOGY, DIAGNOSES, TREATMENT, AND PREVENTION

2021 ◽  
Author(s):  
Hanan Al-Khalaifah ◽  
Mohammad Al-Otaibi ◽  
Abdulaziz Al-Ateeqi
Keyword(s):  
Food Security ◽  
Social Economic ◽  
Animal Production ◽  
Effective Vaccine ◽  
Poultry Production ◽  
Treatment And Prevention ◽  
The World ◽  
Economic Health ◽  
Production Industry ◽  
Classification Structure

With the onset of the coronavirus pandemic in December 2019 in China, and the alarming rate at which it has spread across the world has unleashed not only fear, but has taken a toll on social, economic, health, and governing capabilities of the various countries infected with the virus. The pandemic is affecting all aspects of life, including industries such as the animal production industry all over the world. This includes plant, livestock and poultry production. Food security is accordingly impacted, as these industries are vital elements that are contributing to securing food to populations worldwide. In this review, light is shed on the origin of coronaviruses with special emphasis on COVID-19. It also includes introduction of symptoms, epidemiology and pathogenesis, etiology, and prevention. As the disease progresses, scientists are working around the clock in the hope of an effective vaccine, and they managed to introduce some to the worldwide populations. The world faces challenges on a day-to-day basis until most people are vaccinated.

Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators

2021 ◽  
Vol 15 (2) ◽  
pp. 7948-7963
Author(s):  
Mohamed Aboelnasr ◽  
Hussein M Bahaa ◽  
Ossama Mokhiamar
Keyword(s):  
Monte Carlo ◽  
Numerical Methods ◽  
Curve Fitting ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Graphical Methods ◽  
Kinematic Singularity ◽  
Serial Manipulators ◽  
Serial Robots ◽  
Contour Plots

This paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the derived equations are used to generate and visualize a workspace that gives a good intuition of the motion shape of the manipulator. Third, the Jacobian matrix is computed using graphical methods, aiming to locate positions that cause singularity. Finally, the data obtained are processed in order to visualize the singularity and to design a trajectory free of singularity. MATLAB robotics toolbox, Symbolic toolbox, and curve fitting toolbox are the MATLAB toolboxes used in the calculations. The results of the surface and contour plots of the determinate of the Jacobian matrix behavior lead to design a manipulator’s trajectory free of singularity and show the parameters that affect the manipulator’s singularity and its behavior in the workspace.

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