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RISReal-Time Manipulation of a Hybrid Serial-and-Parallel-Driven Redundant Industrial Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The real-time implementation of path planning, trajectory generation, and servo control for manipulation of the prototype UPSarm are presented in this paper. The prototype UPSarm, which is primarily ...
Extending C and FORTRAN for Design Automation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The CH programming language is designed to be a superset of C. CH bridges the gap between C and FORTRAN; it encompasses all the programming capabilities of FORTRAN 77 and consists of features ...
Singularity Analysis of Spatial Mechanisms Using Dual Polynomials and Complex Dual Numbers
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Complex dual numbers w̌ = x + iy + εu + iεv which form a commutative ring are introduced in this paper to solve dual polynomial equations numerically. It is shown that the singularities ...