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Victor Scheinman's MIT Arm, built for MIT's Artificial Intelligence Lab ca. 1972, the first arm designed with a 321 kinematic structure. 321 kinematic structure is a design method for robotic arms (serial manipulators), invented by Donald L. Pieper and used in most commercially produced robotic arms.
The constraint equations for a kinematic chain are obtained using rigid transformations [Z] to characterize the relative movement allowed at each joint and separate rigid transformations [X] to define the dimensions of each link. In the case of a serial open chain, the result is a sequence of rigid transformations alternating joint and link ...
The sacroiliac joint or SI joint (SIJ) is the joint between the sacrum and the ilium bones of the pelvis, which are connected by strong ligaments. In humans, the sacrum supports the spine and is supported in turn by an ilium on each side. The joint is strong, supporting the entire weight of the upper body.
Forward vs. inverse kinematics. In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain.
In both protocols, the residual energy in the RTLs might cause them to open briefly because the latches are not "hooked" to their fittings until well below the 187° starting position. [ 30 ] RMS and CBM operations are highlighted yellow and blue, respectively, on this berthing timeline from the STS-120/FD04 Execute Pkg. (NASA/MCC, 2007) .
In mathematics, the theory of finite sphere packing concerns the question of how a finite number of equally-sized spheres can be most efficiently packed. The question of packing finitely many spheres has only been investigated in detail in recent decades, with much of the groundwork being laid by László Fejes Tóth.
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In 1958, Frederick C. Frank and John S. Kasper, in their original work investigating many complex alloy structures, [1] [2] showed that non-icosahedral environments form an open-end network which they called the major skeleton, and is now identified as the declination locus.