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W referacie przedstawiono zasady konstrukcji odpornych algorytmów kinematyki odwrotnej w konfiguracjach osobliwych i ich otoczeniu, uzasadniające także klasyczny algorytm odpornej odwrotności. Zaproponowano sposób addytywny i multiplikatywny wprowadzania poprawki do macierzy źle uwarunkowanej, by przywrócić jej dobre uwarunkowanie.
In this paper a Pfaff matrix for doubly generalized N-trailer systems is derived when not only lateral, as in generalized N-trailer systems, but also longitudinal constraints are respected. Based on the matrix, kinematic models are presented for doubly generalized N-trailer systems parameterized with a vector composed of codes of active constraints at each axle. For all constraints active, a closed-form...
In this paper a robotic representation of chemical compounds was proposed. The representation allows to model chemical molecules similarly to open-chain manipulators with tree-like structures. Transformations between known chemical representations (formats) and robotic one were established and the representations were compared to. Possible applications of the robotic representation were enumerated...
In this paper a method to speed up a convergence of the Newton algorithm of motion planning for manipulators was presented. The method couples one dimensional optimization (with respect to a coefficient influencing the convergence property of the algorithm) with a virtual goal replacing a real goal of the planning. The first modification of the basic Newton algorithm can be used for any taskspace...
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