— In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. In this work, optim...
Rodney G. Roberts, Hyun Geun Yu, Anthony A. Maciej...
Abstract--In this paper, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. Optimality is d...
Rodney G. Roberts, Hyun Geun Yu, Anthony A. Maciej...
This paper describes the designs of a saturating adder, multiplier, single MAC unit, and dual MAC unit with one cycle latencies. The dual MAC unit can perform two saturating MAC o...
Abstract— We present an adaptive control approach combining forward kinematics model learning methods with the operational space control approach. This combination endows the rob...
: The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the s...