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Paden–Kahan subproblems are a set of solved geometric problems which occur frequently in inverse kinematics of common robotic manipulators. [1] Although the set of problems is not exhaustive, it may be used to simplify inverse kinematic analysis for many industrial robots. [2] Beyond the three classical subproblems several others have been ...
There are two main descriptions of motion: dynamics and kinematics.Dynamics is general, since the momenta, forces and energy of the particles are taken into account. In this instance, sometimes the term dynamics refers to the differential equations that the system satisfies (e.g., Newton's second law or Euler–Lagrange equations), and sometimes to the solutions to those equations.
Figure 1: The angular velocity vector Ω points up for counterclockwise rotation and down for clockwise rotation, as specified by the right-hand rule. Angular position θ(t) changes with time at a rate ω(t) = dθ/dt. Rotational or angular kinematics is the description of the rotation of an object. [21]
Kinematics; Inverse kinematics: a problem similar to Inverse dynamics but with different goals and starting assumptions.While inverse dynamics asks for torques that produce a certain time-trajectory of positions and velocities, inverse kinematics only asks for a static set of joint angles such that a certain point (or a set of points) of the character (or robot) is positioned at a certain ...
From this point of view the kinematics equations can be used in two different ways. The first called forward kinematics uses specified values for the joint parameters to compute the end-effector position and orientation. The second called inverse kinematics uses the position and orientation of the end-effector to compute the joint parameters ...
The problem of compatibility in continuum mechanics involves the determination of allowable single-valued continuous fields on simply connected bodies. More precisely, the problem may be stated in the following manner. [5] Figure 1. Motion of a continuum body. Consider the deformation of a body shown in Figure 1.
Cosmic age problem (1920s–1990s): The estimated age of the universe was around 3 to 8 billion years younger than estimates of the ages of the oldest stars in the Milky Way. Better estimates for the distances to the stars, and the recognition of the accelerating expansion of the universe, reconciled the age estimates.
The Euler three-body problem is known by a variety of names, such as the problem of two fixed centers, the Euler–Jacobi problem, and the two-center Kepler problem. The exact solution, in the full three dimensional case, can be expressed in terms of Weierstrass's elliptic functions [ 2 ] For convenience, the problem may also be solved by ...