A Guide to Db2 (Second Edition) by C.J. Date with Colin J. White Addison-Wesley, Reading MA, 1988, 501 pages (incl. index) (£23.95)

Craig, Iain D.

doi:10.1017/s0263574700006342

Cited by 14 publications

(23 citation statements)

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“…For binary robotic systems, it is sometimes convenient to formulate the forward kinematics using four-by-four homogeneous transformation matrices [15]. For example, the transformation matrix describing the position and orientation of the end-effector relative to the base can be viewed as the product of the intermediate transformations from module to module within the structure (see Fig.…”

Section: Braid Forward Kinematicsmentioning

confidence: 99%

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Optimized binary modular reconfigurable robotic devices

Hafez

Lichter

Dubowsky

2003

IEEE/ASME Trans. Mechatron.

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Abstract-Binary robotic devices with large degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant degrees of freedom robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematic structure. Its binary actuation simplifies its control architecture.

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Section: Braid Forward Kinematicsmentioning

confidence: 99%

“…10(b)]. The two components of the force between each single wire and all the other parallel wires in both the and directions are calculated from (15). In the case of full symmetry, which means that the two coils are coaxial, the forces acting in the direction between two parallel wires cancel.…”

Section: A Analytical Model Of a Magnet-coil Actuator With Rectangulmentioning

confidence: 99%

Optimized binary modular reconfigurable robotic devices

Hafez

Lichter

Dubowsky

2003

IEEE/ASME Trans. Mechatron.

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“…The theory behind it was initially developed in robotics. By considering molecules as tiny robots, one can transfer much of this theory to molecular modeling. , In this section, we also assume that the underlying graphs of molecules are trees.…”

Section: Denavit-hartenberg (Dh) Local Framesmentioning

confidence: 99%

“…Thus some bookkeeping of the atom positions is necessary. The Denavit-Hartenberg local frames method builds local frames at the bonds. , The relations between local frames at parents and children are updated when a rotation is applied. The atom positions are computed by a series of matrix multiplications.…”

Section: Introductionmentioning

confidence: 99%

A New Method for Fast and Accurate Derivation of Molecular Conformations

Zhang

Kavraki

2001

J. Chem. Inf. Comput. Sci.

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During molecular simulations, three-dimensional conformations of biomolecules are calculated from the values of their bond angles, bond lengths, and torsional angles. In this paper we study how to efficiently derive three-dimensional molecular conformations from the values of torsional angles. This case is of broad interest as torsional angles greatly affect molecular shape and are always taken into account during simulations. We first review two widely used methods for deriving molecular conformations, the simple rotations scheme and the Denavit-Hartenberg local frames method. We discuss their disadvantages which include extensive bookkeeping, accumulation of numerical errors, and redundancies in the local frames used. Then we introduce a new, fast, and accurate method called the atomgroup local frames method. This new method not only eliminates the disadvantages of earlier approaches but also provides lazy evaluation of atom positions and reduces the computational cost. Our method is especially useful in applications where many conformations are generated or updated such as in energy minimization and conformational search.

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“…Consider the robot dynamics (1). Let the class of control laws be defined by (3) where K T is a n;n symmetric positive definite matrix and U (q , q ; ) is an artificial potential yielding a total potential energy satisfying (6) and (7).…”

Section: Propositionmentioning

confidence: 99%

A class of adaptive regulators for robot manipulators

Kelly

Santibáñez

Reyes

1998

Int. J. Adapt. Control Signal Process.

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SUMMARYIn this paper we propose a framework to adaptive regulator design of robot manipulators. A class of global regulators for robot is characterized for which we provide guidelines to derive adaptive versions. The class of regulators is described by control laws comprising the gradient of an artificial potential energy depending in a linear manner on the robot and payload unknown parameters plus a linear velocity feedback. We provide explicit sufficient conditions on the artificial potential energy which allow to obtain an adaptive regulator which yields a stable closed-loop system and global positioning. Using this framework we revise two previously proposed adaptive regulators and we suggest two new ones.1998 John Wiley & Sons, Ltd.

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A Guide to Db2 (Second Edition) by C.J. Date with Colin J. White Addison-Wesley, Reading MA, 1988, 501 pages (incl. index) (£23.95)

Cited by 14 publications

References 0 publications

Optimized binary modular reconfigurable robotic devices

Optimized binary modular reconfigurable robotic devices

A New Method for Fast and Accurate Derivation of Molecular Conformations

A class of adaptive regulators for robot manipulators

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