... these structures are a concatenation of links, thereby
forming an open kinematic chain, with each link coupled to a predeces-
sor and a successor, except for the two end links, which are coupled ... balance the
weight of the machine. A biped is not capable of static equilibrium because
during the swing phase of one leg, the body is supported by a single con-
tact point, which is incapable of ... are
examples of walking machines whose motions aredependent upon dynamic
stability. For static balance, a walking machine requires a kinematic struc-
ture capable of providing the ground reaction forces...
... them in a second course, prior to discussing the
chapters included in the intermediate part of the book.
TLFeBOOK
Mechanical Engineering Series
J. Angeles,
Fundamentalsof Robotic Mechanical ... polynomial is indeed minimal.
In producing the Second Edition, we took the opportunity to clear the
manuscript of errors and inaccuracies. An in- depth revision was conducted
in- between. Special thanks ... Dynamics of Complex Robotic Mechanical Systems . . . . . 498
References 501
Index 515
TLFeBOOK
1
An Overview of Robotic Mechanical
Systems
1.1 Introduction
In defining the scope of our subject,...
... 2.7 Invariance Concepts 63
2.7 Invariance Concepts
From Example 2.6.1 it is apparent that certain properties, like the trace
of certain square matrices do not change under a coordinate transforma-
tion. ... manipulator in Cartesian space and that in the
joint-rate space. While the Cartesian-space velocity—or Cartesian veloc-
ity, for brevity—consists, in general, of a 6-dimensional vector containing
the ... human
brain can control mechanically with the highest accuracy, as the work of
an artist like Picasso, of an accomplished guitar player, or of a surgeon can
attest.
Hence, a manipulator is any device...
... We cannot construct these line objects since the constructor
for class Line
requires creating a line in terms of its two end points and we cannot access the end points for the two input
lines ...
mean in practice?
Consider the following variable declaration:
Vehicle rc = new Racecar();
Here an object rc of formal type Vehicle is constructed of actual type Racecar
. The principle of polymorphic ... with an instance of class Racecar? The answer: Racecar, Car, MotorVehicle, LandBased,
Vehicle, and Object (all classes inherit from Object). Yes, a Racecar instance is of six distinct types....
... tasks ofdata mining,
which are grouped into two categories: direct data mining tasks and indirect
data mining tasks. The difference between direct data mining and indirect
data mining lies in whether ... classes such as the center cluster class and the
subspace cluster class are introduced. In addition, partitional clustering class
and hierarchical clustering class are also introduced.
Introduction ... algorithms such as divisive clustering, center-based clustering,
fuzzy clustering, mixed-type data clustering, search-based clustering, subspace
clustering, mode-based clustering, and parallel data clustering.
A...
... outputs than in program elegance or
structure. The novice engineering programmer is concerned princi-
pally with modeling physical systems or phenomena and processing
accurate data pertaining to those ... either incremented or calculated. Programmable machines
allowed the algorithm processed by the machine to be changed,
thus broadening the utility of the computer. In early electronic ma-
chines such ... of computer function through language. This aspect
of programming is often ignored by other texts; however, the critical
dependence ofdata accuracy on the architecture of the implement-
ing...
... remainder of this text demonstrates the power of the generic approach
to writing data structures. While the structure of these data types becomes
increasingly technical, the nature of specifying ... Object-Oriented Terminology
In Java, data abstraction is accomplished through encapsulation ofdatain an
object—an instance of a class. Like a record in other languages, an object has
fields. Unlike records, ... process of
designing useful datastructures for general purpose programming. Those stu-
dents and faculty considering a move to this secondeditionof Java Structures
will see first-hand some of...