... these structures are a concatenation of links, therebyforming 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 theweight of the machine. A biped is not capable of static equilibrium becauseduring the swing phase of one leg, the body is supported by a single con-tact point, which is incapable of ... areexamples of walking machines whose motions aredependent upon dynamicstability. 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 thechapters included in the intermediate part of the book.TLFeBOOKMechanical Engineering SeriesJ. Angeles, Fundamentalsof Robotic Mechanical ... polynomial is indeed minimal. In producing the Second Edition, we took the opportunity to clear themanuscript of errors and inaccuracies. An in- depth revision was conducted in- between. Special thanks ... Dynamics of Complex Robotic Mechanical Systems . . . . . 498References 501Index 515TLFeBOOK1An Overview of Robotic MechanicalSystems1.1 Introduction In defining the scope of our subject,...
... 2.7 Invariance Concepts 632.7 Invariance ConceptsFrom 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 thejoint-rate space. While the Cartesian-space velocity—or Cartesian veloc-ity, for brevity—consists, in general, of a 6-dimensional vector containingthe ... humanbrain can control mechanically with the highest accuracy, as the work of an artist like Picasso, of an accomplished guitar player, or of a surgeon canattest.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 thesubspace cluster class are introduced. In addition, partitional clustering classand hierarchical clustering class are also introduced.Introduction ... algorithms such as divisive clustering, center-based clustering,fuzzy clustering, mixed-type data clustering, search-based clustering, subspaceclustering, mode-based clustering, and parallel data clustering.A...
... outputs than in program elegance orstructure. The novice engineering programmer is concerned princi-pally with modeling physical systems or phenomena and processingaccurate data pertaining to those ... either incremented or calculated. Programmable machinesallowed 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 criticaldependence ofdata accuracy on the architecture of the implement-ing...
... remainder of this text demonstrates the power of the generic approachto writing data structures. While the structure of these data types becomesincreasingly technical, the nature of specifying ... Object-Oriented Terminology In Java, data abstraction is accomplished through encapsulation ofdatain anobject—an instance of a class. Like a record in other languages, an object hasfields. 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...