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This document compares kinematic and dynamic models for robotics. The kinematic model studies robot motion without considering forces/torques, and can be used to determine end effector position from joint positions. The dynamic model relates joint torques to motion, and is important for analyzing a robot's dynamic behavior. Key differences include the kinematic model using Denavit-Hartenberg notation while dynamic models employ Lagrange-Euler and Newton-Euler formulations. Both models are essential for robot control and simulation.

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Robot manipulator

This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.

Robotics ch 4 robot dynamics

1) The document discusses robot dynamics and defines equations for velocity and kinetic energy.
2) It presents equations to calculate the velocity of points on robot links using transformation matrices and derivatives with respect to joint variables.
3) Equations are provided to calculate the kinetic energy of elements of mass on robot links as a function of linear and angular velocities, allowing the total kinetic energy to be determined by summing over all links.

Robotics position and orientation

The document discusses representing position and orientation of robotic systems using coordinate frames and homogeneous transformations. It introduces coordinate frames and describes how to represent position as a point and orientation as a set of axes. Rotations between frames can be represented by rotation matrices, and transformations between frames are described using homogeneous coordinates. Euler angles provide a method to represent orientation using three angles but require careful consideration of axis sequences due to non-commutativity of rotations.

57892883 geometric-modeling

The document discusses geometric modeling which plays a crucial role in CAD/CAM/CAE systems. It describes three main types of geometric modeling: wireframe, surface, and solid modeling. Wireframe modeling uses lines and curves to represent an object, surface modeling uses surfaces like planes, and solid modeling creates a complete 3D representation of an object. Parametric curves and issues of continuity between curves are also covered. Cubic spline curves are discussed as an example of synthetic curves used in surface modeling.

Robotics: Cartesian Trajectory Planning

1. Trajectories for robotic arms can include via points that the arm passes close to but not necessarily through. Both position and orientation of the arm need to be interpolated along the trajectory.
2. Transitions between straight line segments of a trajectory involve constant acceleration curves like parabolas. The trajectory is planned to satisfy constraints like initial and final positions, velocities, and times.
3. Rotational transitions between orientations are found similarly by defining equivalent axes of rotation and making the rotation a linear function of time along the transition.

Manipulator Jacobian

The document discusses manipulator Jacobians in robotics. A manipulator Jacobian is a matrix that is used to transform the velocity of robot joints into the velocity of the end effector. It has an upper half that describes the linear velocity of the end effector and a lower half that describes the angular velocity. The Jacobian allows the relationship between joint velocities and end effector velocities to be expressed mathematically. Examples are given to demonstrate how to calculate the Jacobian for specific robot manipulators.

Robotics: Forward and Inverse Kinematics

The document discusses forward kinematics, which is finding the position and orientation of the end effector given the joint angles of a robot. It covers different types of robot joints and configurations. It introduces the Denavit-Hartenberg coordinate system for defining the relationship between successive links of a robot. The document also discusses forward kinematic calculations, inverse kinematics, robot workspaces, and trajectory planning.

Solid modelling

The document discusses different methods for modeling solid objects in 3D, including constructive solid geometry (CSG) and boundary representation (B-Rep). CSG uses boolean operations on primitive solids, represented as a tree structure, while B-Rep defines solids by their enclosing faces, edges and vertices with topological connectivity. Both have advantages such as unambiguous definitions but also challenges around complexity, storage or modeling restrictions. Hybrid approaches combine benefits of both methods.

Robot manipulator

This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.

Robotics ch 4 robot dynamics

1) The document discusses robot dynamics and defines equations for velocity and kinetic energy.
2) It presents equations to calculate the velocity of points on robot links using transformation matrices and derivatives with respect to joint variables.
3) Equations are provided to calculate the kinetic energy of elements of mass on robot links as a function of linear and angular velocities, allowing the total kinetic energy to be determined by summing over all links.

Robotics position and orientation

The document discusses representing position and orientation of robotic systems using coordinate frames and homogeneous transformations. It introduces coordinate frames and describes how to represent position as a point and orientation as a set of axes. Rotations between frames can be represented by rotation matrices, and transformations between frames are described using homogeneous coordinates. Euler angles provide a method to represent orientation using three angles but require careful consideration of axis sequences due to non-commutativity of rotations.

57892883 geometric-modeling

The document discusses geometric modeling which plays a crucial role in CAD/CAM/CAE systems. It describes three main types of geometric modeling: wireframe, surface, and solid modeling. Wireframe modeling uses lines and curves to represent an object, surface modeling uses surfaces like planes, and solid modeling creates a complete 3D representation of an object. Parametric curves and issues of continuity between curves are also covered. Cubic spline curves are discussed as an example of synthetic curves used in surface modeling.

Robotics: Cartesian Trajectory Planning

1. Trajectories for robotic arms can include via points that the arm passes close to but not necessarily through. Both position and orientation of the arm need to be interpolated along the trajectory.
2. Transitions between straight line segments of a trajectory involve constant acceleration curves like parabolas. The trajectory is planned to satisfy constraints like initial and final positions, velocities, and times.
3. Rotational transitions between orientations are found similarly by defining equivalent axes of rotation and making the rotation a linear function of time along the transition.

Manipulator Jacobian

The document discusses manipulator Jacobians in robotics. A manipulator Jacobian is a matrix that is used to transform the velocity of robot joints into the velocity of the end effector. It has an upper half that describes the linear velocity of the end effector and a lower half that describes the angular velocity. The Jacobian allows the relationship between joint velocities and end effector velocities to be expressed mathematically. Examples are given to demonstrate how to calculate the Jacobian for specific robot manipulators.

Robotics: Forward and Inverse Kinematics

The document discusses forward kinematics, which is finding the position and orientation of the end effector given the joint angles of a robot. It covers different types of robot joints and configurations. It introduces the Denavit-Hartenberg coordinate system for defining the relationship between successive links of a robot. The document also discusses forward kinematic calculations, inverse kinematics, robot workspaces, and trajectory planning.

Solid modelling

The document discusses different methods for modeling solid objects in 3D, including constructive solid geometry (CSG) and boundary representation (B-Rep). CSG uses boolean operations on primitive solids, represented as a tree structure, while B-Rep defines solids by their enclosing faces, edges and vertices with topological connectivity. Both have advantages such as unambiguous definitions but also challenges around complexity, storage or modeling restrictions. Hybrid approaches combine benefits of both methods.

ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMING

Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs

Robot programming

This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.

Robot kinematics

This document discusses forward and inverse kinematics, including:
1. Forward kinematics determines the position of the robot hand given joint variables, while inverse kinematics calculates joint variables for a desired hand position.
2. Homogeneous transformation matrices are used to represent frames, points, vectors and transformations in space.
3. Standard robot coordinate systems include Cartesian, cylindrical, and spherical coordinates. Forward and inverse kinematics equations are provided for position analysis in each system.

Robotics: Introduction to Kinematics

The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol

Fir 05 dynamics

The document discusses dynamic modeling of robot manipulators using the Euler-Lagrange approach. It introduces dynamic models and the direct and inverse problems. The Euler-Lagrange approach is then explained in detail. It involves computing the kinetic and potential energies of each link based on the link masses, centers of mass, moments of inertia, and joint velocities and positions. This allows deriving the dynamic equations of motion for the manipulator.

Unit-I Robotics

This document provides an overview of robot fundamentals, including definitions, classifications, specifications, anatomy, and applications. It defines a robot as a reprogrammable mechanical device that performs tasks controlled by a human or automated system. Robots are classified based on their mechanical arm, degrees of freedom, power source, control system, sensors, movement, industry application and more. The document also describes common robot coordinate systems, joints, motions, and specifications for different robot configurations including Cartesian, cylindrical, polar, SCARA and more. It provides examples of various robot applications in industries.

Robot Classification

Robots can be classified based on their power source as pneumatic, hydraulic, or electric. The drive system provides motion to the robot and determines its speed, strength, and applications. Common drive systems include hydraulic, electric, and pneumatic. Hydraulic drives provide great speed and strength but require electric pumps and have oil leakage issues. Electric drives are smaller, more accurate and repeatable, and occupy less space, making them suitable for assembly. Pneumatic drives are used for simple pick and place with fast cycles. The document also discusses factors that influence robot speed and load carrying capacity.

Robot Arm Kinematics

The document discusses various kinematic problems in robotics including forward kinematics, inverse kinematics, and Denavit-Hartenberg notation. Forward kinematics determines the pose of the end-effector given the joint angles, while inverse kinematics determines the required joint angles to achieve a desired end-effector pose. Denavit-Hartenberg notation provides a systematic way to describe the geometry of robot links and joints. The document also covers numerical solutions to inverse kinematics for robots without closed-form solutions and kinematics of special robot types like under-actuated and redundant manipulators.

Geometric Modeling

The document discusses geometric modeling which is the foundation of computer-aided design (CAD). It describes the different types of geometric models including graphical models, curve models, surface models, and solid models. Graphical models include wireframe models and can be graphically deficient. Curve models must satisfy boundary conditions at start and end points. When curves are joined, they can have C0, C1 or C2 continuity depending on matching of points, tangents or curvature. The document provides examples of each type of continuity for composite curves.

Chapter 2 robot kinematics

This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.

SURFACE MODELLING .pptx

Surface modeling represents the surfaces of 3D objects and can be used to model complex shapes like vehicles, ships, and aircraft wings. There are two main types of surface modeling: parametric surfaces and implicit surfaces. Parametric surfaces use a set of equations to define the x, y, and z coordinates as functions of parameters u and v. Common parametric surface types include planes, ruled surfaces, surfaces of revolution, and tabulated cylinders. Implicit surfaces use a single polynomial equation to define the surface. Surface modeling provides more realistic representations than wireframe models and can be used for applications like finite element analysis, machining tool paths, and rendering models.

Robot Configuration - 1

This document discusses different types of industrial robots classified by their arm configuration, power source, and path control. It describes Cartesian robots which move along three orthogonal axes and have a rectangular working envelope. Cylindrical robots use a vertical column that can rotate and slide up/down, giving them a cylindrical working volume. Both robot types have advantages like payload capacity and work area, as well as disadvantages like limited movement directions and lower accuracy for cylindrical robots. Common applications include pick and place, assembly, welding, and machine loading/unloading.

Denavit hartenberg convention

1) The Denavit-Hartenberg (D-H) convention establishes a unified approach for assigning coordinate frames to the links of a robot manipulator. It defines a transformation matrix to relate adjacent coordinate frames based on four successive transformations.
2) The D-H parameters (α, a, d, θ) are used to describe the geometry and kinematic properties of the robot. Forward kinematics uses the transformation matrices to determine the end effector pose from the joint parameters.
3) The forward kinematics solution can be obtained by calculating the homogeneous transformation matrix relating the tool frame to the base frame as the product of individual transformation matrices. This determines the position and orientation of the end effector.

Differential kinematics robotic

1. The document discusses differential kinematics and how it can be used to examine the pose velocities of robot frames. It also covers Jacobians and how they map between joint and Cartesian space velocities.
2. Specific topics covered include differential transformations, screw velocity matrices, relating velocities in different frames, determining Jacobians for serial and parallel robots, and examining robot singularities.
3. Singularities occur when the mechanism loses mobility in certain directions and joint rates will increase near these configurations. Workarounds include tooling design, changing to joint space control near singularities, and carefully planning paths.

Robotics and Autoamtion_ manipulators, actuators and end effectors

Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.

Hermite cubic spline curve

The cubic Hermite spline curve uses a cubic polynomial to interpolate between data points and guarantees continuity of the curve as well as its first and second derivatives at points. It is defined by two endpoints and the tangent vectors at those endpoints. The curve shape can be controlled by changing the endpoints or tangent vectors. The curve is represented parametrically and the coefficients of the polynomial are determined by satisfying boundary conditions at the endpoints.

Robotics and machine vision system

This document provides information about robotics and machine vision systems courses. The objectives are to study robot components, derive kinematics and dynamics equations, manipulate trajectories, and learn machine vision. Key topics covered include robot history, components, configurations like Cartesian and cylindrical, applications in material handling, processing, assembly, and inspection. Benefits of robots are also discussed.

selection of robot

The document discusses factors to consider when selecting robots for various applications, including the number of axes, control system, work volume, and precision required. It provides a table outlining typical technical features needed for common robot applications like material transfer, machine loading, and spot welding. The document also covers factors to evaluate when selecting and designing grippers for robots, such as the part being handled, actuation method, power and signals, and operating environment.

Robotics or Robot Technology

The document provides an introduction to robot technology, including definitions and terminology. It defines a robot as an electro-mechanical device with multiple degrees of freedom that is programmable to perform tasks. Industrial robots are designed to handle materials, parts, tools or devices through variable programmed motions. The study of robotics is interdisciplinary, involving mechanical, electrical, electronic and computer engineering. Robotic systems consist of manipulators, drive systems, controls, end effectors, sensors and software. Different robot configurations include Cartesian, cylindrical, spherical and articulated designs. Selection of robots depends on factors like size, degrees of freedom, velocity, precision and load capacity.

Unit 2 curves & surfaces

Representation of curves- Hermite curve- Bezier curve- B-spline curves-rational curves-Techniques
for surface modeling – surface patch- Coons and bicubic patches- Bezier and B-spline surfaces.

Mathematical Structure of Kinematic Model

The document discusses the mathematical structure of kinematic models for manipulators. It defines that a manipulator consists of rigid links connected by joints, with an arm for mobility, wrist for orientation, and end-effector for tasks. Degrees of freedom refer to independent movements in 3D space, with 6 total - 3 for translation and 3 for rotation. Kinematic modeling involves direct and inverse kinematics - direct finds end-effector position from joint parameters, inverse finds joint values for a given end-effector position. Denavit-Hartenberg notation assigns reference frames, and transformation matrices relate positions between adjacent links based on joint-link parameters to define the kinematic model.

Kinematics Modeling of a 4-DOF Robotic Arm

This work presents the kinematics model of an RA-
02 (a 4 DOF) robotic arm. The direct kinematic problem is
addressed using both the Denavit-Hartenberg (DH) convention
and the product of exponential formula, which is based on the
screw theory. By comparing the results of both approaches, it
turns out that they provide identical solutions for the
manipulator kinematics. Furthermore, an algebraic solution of
the inverse kinematics problem based on trigonometric
formulas is also provided. Finally, simulation results for the
kinematics model using the Matlab program based on the DH
convention are presented. Since the two approaches are
identical, the product of exponential formula is supposed to
produce same simulation results on the robotic arm studied.
Keywords-Robotics; DH convention; product of exponentials;
kinematics; simulations

ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMING

Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs

Robot programming

This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.

Robot kinematics

This document discusses forward and inverse kinematics, including:
1. Forward kinematics determines the position of the robot hand given joint variables, while inverse kinematics calculates joint variables for a desired hand position.
2. Homogeneous transformation matrices are used to represent frames, points, vectors and transformations in space.
3. Standard robot coordinate systems include Cartesian, cylindrical, and spherical coordinates. Forward and inverse kinematics equations are provided for position analysis in each system.

Robotics: Introduction to Kinematics

The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol

Fir 05 dynamics

The document discusses dynamic modeling of robot manipulators using the Euler-Lagrange approach. It introduces dynamic models and the direct and inverse problems. The Euler-Lagrange approach is then explained in detail. It involves computing the kinetic and potential energies of each link based on the link masses, centers of mass, moments of inertia, and joint velocities and positions. This allows deriving the dynamic equations of motion for the manipulator.

Unit-I Robotics

This document provides an overview of robot fundamentals, including definitions, classifications, specifications, anatomy, and applications. It defines a robot as a reprogrammable mechanical device that performs tasks controlled by a human or automated system. Robots are classified based on their mechanical arm, degrees of freedom, power source, control system, sensors, movement, industry application and more. The document also describes common robot coordinate systems, joints, motions, and specifications for different robot configurations including Cartesian, cylindrical, polar, SCARA and more. It provides examples of various robot applications in industries.

Robot Classification

Robots can be classified based on their power source as pneumatic, hydraulic, or electric. The drive system provides motion to the robot and determines its speed, strength, and applications. Common drive systems include hydraulic, electric, and pneumatic. Hydraulic drives provide great speed and strength but require electric pumps and have oil leakage issues. Electric drives are smaller, more accurate and repeatable, and occupy less space, making them suitable for assembly. Pneumatic drives are used for simple pick and place with fast cycles. The document also discusses factors that influence robot speed and load carrying capacity.

Robot Arm Kinematics

The document discusses various kinematic problems in robotics including forward kinematics, inverse kinematics, and Denavit-Hartenberg notation. Forward kinematics determines the pose of the end-effector given the joint angles, while inverse kinematics determines the required joint angles to achieve a desired end-effector pose. Denavit-Hartenberg notation provides a systematic way to describe the geometry of robot links and joints. The document also covers numerical solutions to inverse kinematics for robots without closed-form solutions and kinematics of special robot types like under-actuated and redundant manipulators.

Geometric Modeling

The document discusses geometric modeling which is the foundation of computer-aided design (CAD). It describes the different types of geometric models including graphical models, curve models, surface models, and solid models. Graphical models include wireframe models and can be graphically deficient. Curve models must satisfy boundary conditions at start and end points. When curves are joined, they can have C0, C1 or C2 continuity depending on matching of points, tangents or curvature. The document provides examples of each type of continuity for composite curves.

Chapter 2 robot kinematics

This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.

SURFACE MODELLING .pptx

Surface modeling represents the surfaces of 3D objects and can be used to model complex shapes like vehicles, ships, and aircraft wings. There are two main types of surface modeling: parametric surfaces and implicit surfaces. Parametric surfaces use a set of equations to define the x, y, and z coordinates as functions of parameters u and v. Common parametric surface types include planes, ruled surfaces, surfaces of revolution, and tabulated cylinders. Implicit surfaces use a single polynomial equation to define the surface. Surface modeling provides more realistic representations than wireframe models and can be used for applications like finite element analysis, machining tool paths, and rendering models.

Robot Configuration - 1

This document discusses different types of industrial robots classified by their arm configuration, power source, and path control. It describes Cartesian robots which move along three orthogonal axes and have a rectangular working envelope. Cylindrical robots use a vertical column that can rotate and slide up/down, giving them a cylindrical working volume. Both robot types have advantages like payload capacity and work area, as well as disadvantages like limited movement directions and lower accuracy for cylindrical robots. Common applications include pick and place, assembly, welding, and machine loading/unloading.

Denavit hartenberg convention

1) The Denavit-Hartenberg (D-H) convention establishes a unified approach for assigning coordinate frames to the links of a robot manipulator. It defines a transformation matrix to relate adjacent coordinate frames based on four successive transformations.
2) The D-H parameters (α, a, d, θ) are used to describe the geometry and kinematic properties of the robot. Forward kinematics uses the transformation matrices to determine the end effector pose from the joint parameters.
3) The forward kinematics solution can be obtained by calculating the homogeneous transformation matrix relating the tool frame to the base frame as the product of individual transformation matrices. This determines the position and orientation of the end effector.

Differential kinematics robotic

1. The document discusses differential kinematics and how it can be used to examine the pose velocities of robot frames. It also covers Jacobians and how they map between joint and Cartesian space velocities.
2. Specific topics covered include differential transformations, screw velocity matrices, relating velocities in different frames, determining Jacobians for serial and parallel robots, and examining robot singularities.
3. Singularities occur when the mechanism loses mobility in certain directions and joint rates will increase near these configurations. Workarounds include tooling design, changing to joint space control near singularities, and carefully planning paths.

Robotics and Autoamtion_ manipulators, actuators and end effectors

Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.

Hermite cubic spline curve

The cubic Hermite spline curve uses a cubic polynomial to interpolate between data points and guarantees continuity of the curve as well as its first and second derivatives at points. It is defined by two endpoints and the tangent vectors at those endpoints. The curve shape can be controlled by changing the endpoints or tangent vectors. The curve is represented parametrically and the coefficients of the polynomial are determined by satisfying boundary conditions at the endpoints.

Robotics and machine vision system

This document provides information about robotics and machine vision systems courses. The objectives are to study robot components, derive kinematics and dynamics equations, manipulate trajectories, and learn machine vision. Key topics covered include robot history, components, configurations like Cartesian and cylindrical, applications in material handling, processing, assembly, and inspection. Benefits of robots are also discussed.

selection of robot

The document discusses factors to consider when selecting robots for various applications, including the number of axes, control system, work volume, and precision required. It provides a table outlining typical technical features needed for common robot applications like material transfer, machine loading, and spot welding. The document also covers factors to evaluate when selecting and designing grippers for robots, such as the part being handled, actuation method, power and signals, and operating environment.

Robotics or Robot Technology

The document provides an introduction to robot technology, including definitions and terminology. It defines a robot as an electro-mechanical device with multiple degrees of freedom that is programmable to perform tasks. Industrial robots are designed to handle materials, parts, tools or devices through variable programmed motions. The study of robotics is interdisciplinary, involving mechanical, electrical, electronic and computer engineering. Robotic systems consist of manipulators, drive systems, controls, end effectors, sensors and software. Different robot configurations include Cartesian, cylindrical, spherical and articulated designs. Selection of robots depends on factors like size, degrees of freedom, velocity, precision and load capacity.

Unit 2 curves & surfaces

Representation of curves- Hermite curve- Bezier curve- B-spline curves-rational curves-Techniques
for surface modeling – surface patch- Coons and bicubic patches- Bezier and B-spline surfaces.

ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMING

ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMING

Robot programming

Robot programming

Robot kinematics

Robot kinematics

Robotics: Introduction to Kinematics

Robotics: Introduction to Kinematics

Fir 05 dynamics

Fir 05 dynamics

Unit-I Robotics

Unit-I Robotics

Robot Classification

Robot Classification

Robot Arm Kinematics

Robot Arm Kinematics

Geometric Modeling

Geometric Modeling

Chapter 2 robot kinematics

Chapter 2 robot kinematics

SURFACE MODELLING .pptx

SURFACE MODELLING .pptx

Robot Configuration - 1

Robot Configuration - 1

Denavit hartenberg convention

Denavit hartenberg convention

Differential kinematics robotic

Differential kinematics robotic

Robotics and Autoamtion_ manipulators, actuators and end effectors

Robotics and Autoamtion_ manipulators, actuators and end effectors

Hermite cubic spline curve

Hermite cubic spline curve

Robotics and machine vision system

Robotics and machine vision system

selection of robot

selection of robot

Robotics or Robot Technology

Robotics or Robot Technology

Unit 2 curves & surfaces

Unit 2 curves & surfaces

Mathematical Structure of Kinematic Model

The document discusses the mathematical structure of kinematic models for manipulators. It defines that a manipulator consists of rigid links connected by joints, with an arm for mobility, wrist for orientation, and end-effector for tasks. Degrees of freedom refer to independent movements in 3D space, with 6 total - 3 for translation and 3 for rotation. Kinematic modeling involves direct and inverse kinematics - direct finds end-effector position from joint parameters, inverse finds joint values for a given end-effector position. Denavit-Hartenberg notation assigns reference frames, and transformation matrices relate positions between adjacent links based on joint-link parameters to define the kinematic model.

Kinematics Modeling of a 4-DOF Robotic Arm

This work presents the kinematics model of an RA-
02 (a 4 DOF) robotic arm. The direct kinematic problem is
addressed using both the Denavit-Hartenberg (DH) convention
and the product of exponential formula, which is based on the
screw theory. By comparing the results of both approaches, it
turns out that they provide identical solutions for the
manipulator kinematics. Furthermore, an algebraic solution of
the inverse kinematics problem based on trigonometric
formulas is also provided. Finally, simulation results for the
kinematics model using the Matlab program based on the DH
convention are presented. Since the two approaches are
identical, the product of exponential formula is supposed to
produce same simulation results on the robotic arm studied.
Keywords-Robotics; DH convention; product of exponentials;
kinematics; simulations

control .pptx

1) The document discusses inverse and forward kinematics problems for the motion of manipulators in PUMA robotics systems. It focuses on modeling the kinematics using homogeneous transformation matrices and the Denavit-Hartenberg parameterization.
2) Neural network control methods are explored for the PUMA robot, including using an Elman recurrent neural network with feedback to solve the inverse kinematics problem. Simulation results are shown to evaluate the network's performance.
3) The conclusion states that an accurate kinematic model of the PUMA manipulator has been developed and some modifications have been made to the inverse kinematics solutions to avoid contradictory joint configurations.

Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560

Current industrial robots are made very heavy to achieve high Stiffness
which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the
required energy to move the system. The requirement for higher speed and better system performance makes it
necessary to consider a new generation of light weight manipulators as an alternative to today's massive
inefficient ones. Light weight manipulators require Less energy to move and they have larger payload abilities
and more maneuverability. However due to the dynamic effects of structural flexibility, their control is much
more difficult. Therefore, there is a need to develop accurate dynamic models for design and control of such
systems.This project presents the flexibility and Kineto - Elasto dynamic analysis of robot manipulator
considering deflection. Based on the distributed parameter method, the generalized motion equations of robot
manipulator with flexible links are derived. The final formulation of the motion equations is used to model
general complex elastic manipulators with nonlinear rigid-body and elastic motion in dynamics and it can be
used in the flexibility analysis of robot manipulators and spatial mechanisms. Manipulator end-effector path
trajectory, velocity and accelerations are plotted. Joint torques is to be determined for each joint trajectory
(Dynamics) .Using joint torques, static loading due to link’s masses, masses at joints, and payload, the robot
arms elastic deformations are to be found by using ANSYS-12.0 software package. Elastic compensation is
inserted in coordinates of robotic programming to get exact end-effectors path. A comparison of paths
trajectory of the end-effector is to be plotted. Also variation of torques is plotted after considering elastic
compensation. These torque variations are included in the robotic programming for getting the accurate endeffect
or’s path trajectory

kinematics of 8-axis robot for material handling applications

Project is to carry out the thorough mathematical kinematic model which includes forward and inverse displacement equation model, and forward and inverse differential or velocity model, by formulating equations relating joint variables with the position and orientation of the end-effector

Dynamics and control of a robotic arm having four links

This document presents the dynamics modeling and control of a 4 degree-of-freedom robotic arm. It first derives the dynamic model of the robotic arm using the Euler-Lagrange approach. It then describes implementing two control approaches for position control of the arm joints: PID control and feedback linearization control. Simulation results show that PID control coupled with a differential evolution algorithm and feedback linearization control improve the robotic arm's performance. Increasing the arm link masses is found to not affect PID position control performance but require higher control torques.

C012411728

This document investigates how changing the position of the tool point on the moving platform affects the dynamic performance of a 3RRR planar parallel manipulator. Lagrange-d'Alembert formulation is used to develop the dynamic model. The manipulator's dimensions and parameters remain the same, while only the tool point position is changed. Simulation results show that locating the tool point at an optimal position reduces the generalized forces and energy consumption of the manipulator, improving its dynamic performance.

Termpaper ai

The document discusses forward and inverse kinematics for humanoid robots. It presents an analytical solution to the forward and inverse kinematics problems for the Aldebaran NAO humanoid robot. The solution decomposes the robot into five independent kinematic chains (head, two arms, two legs). It uses the Denavit-Hartenberg method and solves a non-linear system of equations to find exact closed-form solutions. The implemented kinematics library allows real-time transformations between joint configurations and physical positions, enabling motions like balancing and tracking a moving ball.

Jacobian | velocity and static forces

This document discusses robot dynamics and Jacobians. It covers:
1) Linear and rotational velocity of rigid bodies and how velocity propagates from link to link in a robot.
2) Jacobians relate how movement of joint angles causes movement of the end effector position and orientation.
3) Singularities occur when a robot loses degrees of freedom in Cartesian space.
4) Static forces in manipulators are analyzed by considering forces and torques exerted between links.

FORWARD KINEMATIC ANALYSIS OF A ROBOTIC MANIPULATOR WITH TRIANGULAR PRISM STR...

To control robot manipulators as per the requirement, it is important to consider its kinematic model. In robotics, we use the kinematic relations of manipulators to set up the fundamental equations for dynamics and control. The objective of this paper is to introduce triangular prism structured manipulator and derive the forward kinematic model using Denavit-Hartenberg representation.

Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On ...

This paper presents an algorithm to solve the inverse kinematics for a six degree of freedom (6 DOF) manipulator robot with wrist offset. This type of robot has a complex inverse kinematics, which needs a long time for such calculation. The proposed algorithm starts from find the wrist point by vectors computation then compute the first three joint angles and after that compute the wrist angles by analytic solution. This algorithm is tested for the TQ MA2000 manipulator robot as case study. The obtained results was compared with results of rotational vector algorithm where both algorithms have the same accuracy but the proposed algorithm saving round about 99.6% of the computation time required by the rotational vector algorithm, which leads to used this algorithm in real time robot control.

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This document discusses stiffness analysis of flexible parallel manipulators. It presents the forward kinematics analysis of a 3-RRR planar parallel manipulator using genetic algorithms and neural networks to minimize positional errors. The Jacobian and platform stiffness matrices are evaluated within the defined workspace. A pseudo-rigid body model with frame and plate elements is used to analyze the flexible link configuration and compliant joints. Stiffness indices are obtained and validated using commercial finite element software. The methodology is illustrated for a 3-RRR flexible parallel manipulator to study the effects of link flexibility and joint compliance on stiffness.

A New Method For Solving Kinematics Model Of An RA-02

The kinematics miniature are established for a 4 DOF robotic arm. Denavit-Hartenberg (DH) convention and the
product of exponential formula are used for solving kinematic problem based on screw theory. For acquiring
simple matrix for inverse kinematics a new simple method is derived by solving problems like robot base
movement, actuator restoration. Simulations are done by using MATlab programming for the kinematics
exemplary.

Robot2L_IEEE00493506

This document discusses the theoretical and experimental study of dynamics and control of a two-link flexible robot arm. It presents the following:
1) A linear dynamic model of the robot arm is constructed using Ritz's approach and validated experimentally.
2) Three active control schemes are designed using pole placement technique for path tracking and vibration suppression, and tested via simulation.
3) A discrete-time state variable feedback control scheme is presented and designed to control the robot arm's motion using three sensors for position and curvature feedback.

GLOBALLY STABLE INTEGRATED KINEMATIC AND DYNAMIC CONTROL FOR TRAJECTORY TRACK...

GLOBALLY STABLE INTEGRATED KINEMATIC AND DYNAMIC CONTROL FOR TRAJECTORY TRACK...Amr Yousry CEng MIMechE, Msc., ASME Member

This document summarizes a research paper that presents a non-linear control law to track a reference trajectory for a mobile robot with caster wheels. The control law integrates kinematic and dynamic controllers to minimize position/orientation errors and differences between actual and reference velocities. The stability of the control law is proven using Lyapunov theory. Numerical simulations and experiments on a differential-drive mobile robot show the integrated control provides faster convergence and eliminates overshoot compared to just kinematic control.D05532531

This document describes simulation of non-linear computed torque control for a two link SCARA type manipulator in Simulink. It begins with an introduction to SCARA manipulators and computed torque control. It then provides the inverse kinematics equations to transform between Cartesian and joint space for the manipulator. It derives the equations of motion using Lagrange's equations. It describes a pick and place task and generates trajectories between points using a third order polynomial. Finally, it introduces computed torque control which uses feedback linearization to calculate the required joint torques to control the nonlinear manipulator.

Performance measurement and dynamic analysis of two

This document presents the forward and inverse kinematic analysis and dynamic analysis of a 2 degree of freedom robotic arm manipulator. It includes:
- Deriving the forward kinematics equations relating joint angles to end effector position.
- Determining the inverse kinematics and discussing issues like multiple solutions and singularities.
- Analyzing the manipulator performance in terms of condition number, mobility index, and singular configurations.
- Modeling the dynamics using Lagrangian and Newton-Euler approaches and deriving the equations of motion relating joint torques to accelerations.

Design and Implementation of Model Reference Adaptive Controller using Coeffi...

This document describes the design and implementation of a model reference adaptive controller (MRAC) using the coefficient diagram method (CDM) for a nonlinear process. It begins by introducing MRAC for single-input single-output plants, developing the MRAC design and control law. It then provides basics of the CDM design approach. The document applies the CDM-MRAC to a spherical tank level process in simulation, comparing its performance to a linear PI controller. Simulation results show the CDM-MRAC has faster rise time and settling time than the PI controller.

Experimental veriﬁcation of SMC with moving switching lines applied to hoisti...

In this paper we propose sliding mode control strategies for the point-to-point motion control of a hoisting crane. The strategies employ time-varying switching lines (characterized by a constant angle of inclination) which move either with a constant deceleration or a constant velocity to the origin of the error state space. An appropriate design of these switching lines results in non-oscillatory convergence of the regulation error in the closed-loop system. Parameters of the lines are selected optimally in the sense of two criteria, i.e. integral absolute error (IAE) and integral of the time multiplied by the absolute error (ITAE). Furthermore, the velocity and acceleration constraints are explicitly taken into account in the optimization process. Theoretical considerations are veriﬁed by experimental tests conducted on a laboratory scale hoisting crane.

The kinematics analysis and trajectory planning of Series robot

In this paper, a series robot as the research object, using theoretical analysis, numerical simulation method of
combining, to carry out the overall performance analysis and optimization of industrial robots trajectory. For serial
robot, kinematics modeling. The establishment of a first-order influence coefficient method based on
second-order influence coefficient matrix, kinematic and dynamic analysis of performance indicators based on
both Jacobin matrix and Hessian matrix, and the actual size of the work and working space agencies, institutions
initially selected size. Finally, institutional performance indicators for institutional map drawing performance,
combined with the flexibility and maneuverability determine the size of a set of different institutions in the
optimal configuration, and its feasibility through simulation. According to the geometric characteristics of the
surface complex surface fragmentation process, solve the optimal value speed and coating spray width of the
overlapping area on each patch.

Mathematical Structure of Kinematic Model

Mathematical Structure of Kinematic Model

Kinematics Modeling of a 4-DOF Robotic Arm

Kinematics Modeling of a 4-DOF Robotic Arm

control .pptx

control .pptx

Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560

Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560

kinematics of 8-axis robot for material handling applications

kinematics of 8-axis robot for material handling applications

Dynamics and control of a robotic arm having four links

Dynamics and control of a robotic arm having four links

C012411728

C012411728

Termpaper ai

Termpaper ai

Jacobian | velocity and static forces

Jacobian | velocity and static forces

FORWARD KINEMATIC ANALYSIS OF A ROBOTIC MANIPULATOR WITH TRIANGULAR PRISM STR...

FORWARD KINEMATIC ANALYSIS OF A ROBOTIC MANIPULATOR WITH TRIANGULAR PRISM STR...

Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On ...

Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On ...

Bg2420212027

Bg2420212027

A New Method For Solving Kinematics Model Of An RA-02

A New Method For Solving Kinematics Model Of An RA-02

Robot2L_IEEE00493506

Robot2L_IEEE00493506

GLOBALLY STABLE INTEGRATED KINEMATIC AND DYNAMIC CONTROL FOR TRAJECTORY TRACK...

GLOBALLY STABLE INTEGRATED KINEMATIC AND DYNAMIC CONTROL FOR TRAJECTORY TRACK...

D05532531

D05532531

Performance measurement and dynamic analysis of two

Performance measurement and dynamic analysis of two

Design and Implementation of Model Reference Adaptive Controller using Coeffi...

Design and Implementation of Model Reference Adaptive Controller using Coeffi...

Experimental veriﬁcation of SMC with moving switching lines applied to hoisti...

Experimental veriﬁcation of SMC with moving switching lines applied to hoisti...

The kinematics analysis and trajectory planning of Series robot

The kinematics analysis and trajectory planning of Series robot

Generative AI leverages algorithms to create various forms of content

What is Generative AI?

Virtualization: A Key to Efficient Cloud Computing

The document discusses various types of virtualization used in cloud computing. It describes virtualization as a technique that allows sharing of physical resources among multiple customers. There are two main types of hypervisors - Type 1 hypervisors run directly on hardware while Type 2 hypervisors run on a host operating system. The document also summarizes different types of virtualization including hardware, software, memory, storage, network, and desktop virtualization. Benefits of virtualization include improved efficiency, outsourcing of hardware costs, testing software in isolated environments, and emulating machines beyond physical availability.

Automating the Cloud: A Deep Dive into Virtual Machine Provisioning

Virtual machine provisioning allows users to quickly provision new virtual machines through a self-service interface in minutes, rather than the days it previously took to provision physical servers. Virtual machine migration also allows live migration of virtual machines between physical hosts in milliseconds for maintenance or upgrades. Standards like OVF and OCCI help ensure interoperability and portability of virtual machines across platforms. The virtual machine lifecycle includes provisioning, serving requests, and deprovisioning resources when the service is ended.

Harnessing the Power of Google Cloud Platform: Strategies and Applications

The document discusses Google Cloud Platform (GCP), a suite of cloud computing services provided by Google. It provides infrastructure as a service (IaaS), platform as a service (PaaS), and software as a service (SaaS). GCP allows users to access computing power, storage, databases, and other applications through remote servers on the internet. It offers advantages like scalability, security, redundancy, and cost-effectiveness compared to traditional data centers. Example applications of GCP include enabling collaborative document editing in real-time.

Scheduling in Cloud Computing

Scheduling refers to allocating computing resources like processor time and memory to processes. In cloud computing, scheduling maps jobs to virtual machines. There are two levels of scheduling - at the host level to distribute VMs, and at the VM level to distribute tasks. Common scheduling algorithms include first-come first-served (FCFS), shortest job first (SJF), round robin, and max-min. FCFS prioritizes older jobs but has high wait times. SJF prioritizes shorter jobs but can starve longer ones. Max-min prioritizes longer jobs to optimize resource use. The choice depends on goals like throughput, latency, and fairness.

Cloud-Case study

This document provides a template for submitting case studies to a case study compendium on cloud computing solutions. The template requests information on the customer organization, industry, location, the cloud solution provider, area of application of the cloud solution, challenges addressed, objectives, timeline of implementation, solution approach, challenges during implementation, benefits to the customer, innovation enabled, partnerships involved, and a customer testimonial. It requests details on the cloud solution type (IaaS, PaaS, or SaaS), quantitative and qualitative benefits realized by the customer, and how the solution helped boost innovation. Contact details of the submitter are also requested. The focus is on how cloud platforms and solutions enabled customer enterprises to innovate and

RAID

RAID (Redundant Array of Independent Disks) uses multiple hard disks or solid-state drives to protect data by storing it across the drives in a way that if one drive fails, the data can still be accessed from the other drives. There are different RAID levels that provide varying levels of data protection and performance. A RAID controller manages the drives in an array, presenting them as a single logical drive and improving performance and reliability. Common RAID levels include RAID 0 for performance without redundancy, RAID 1 for disk mirroring, and RAID 5 for striping with parity data distributed across drives. [/SUMMARY]

Load balancing in cloud computing.pptx

Cloud load balancing distributes workloads and network traffic across computing resources in a cloud environment to improve performance and availability. It routes incoming traffic to multiple servers or other resources while balancing the load. Load balancing in the cloud is typically software-based and offers benefits like scalability, reliability, reduced costs, and flexibility compared to traditional hardware-based load balancing. Common cloud providers like AWS, Google Cloud, and Microsoft Azure offer multiple load balancing options that vary based on needs and network layers.

Cluster Computing

A computer cluster is a set of computers that work together so that they can be viewed as a single system.

ITU-T requirement for cloud and cloud deployment model

List and explain the functional requirements for networking as per the ITU-T technical report. List and explain cloud deployment models and list relative strengths and weaknesses of the deployment models with neat diagram.

Leetcode Problem Solution

The document contains descriptions of several LeetCode problems ranging from Medium to Hard difficulty. It provides details about the Maximum Level Sum of a Binary Tree, Jump Game III, Minesweeper, Binary Tree Level Order Traversal, Number of Operations to Make Network Connected, Open the Lock, Sliding Puzzle, and Trapping Rain Water II problems. It also includes pseudocode and explanations for solving the Number of Operations to Make Network Connected and Open the Lock problems.

Leetcode Problem Solution

The document discusses three problems: (1) finding the cheapest flight route between two cities with at most k stops using DFS and pruning; (2) merging k sorted linked lists into one sorted list using a priority queue; (3) using a sequence of acceleration (A) and reversing (R) instructions to reach a target position in the shortest number of steps for a car that can move to negative positions.

Trie Data Structure

Trie Data Structure
LINK: https://leetcode.com/tag/trie/
Easy:
1. Longest Word in Dictionary
Medium:
1. Count Substrings That Differ by One Character
2. Replace Words
3. Top K Frequent Words
4. Maximum XOR of Two Numbers in an Array
5. Map Sum Pairs
Hard:
1. Concatenated Words
2. Word Search II

Reviewing basic concepts of relational database

The document discusses the basics of relational databases. It defines what a database is, the advantages it provides over file-based data storage, and some disadvantages. It also covers relational database concepts like tables, records, fields, keys, and normalization. The document explains how to design a relational database by determining the purpose and entities, modeling relationships with E-R diagrams, and following steps to normalize the data.

Reviewing SQL Concepts

https://youtu.be/0l83FZfrerg
What is SQL?
What Can SQL do?
SQL Syntax
Semicolon after SQL Statements?

Advanced database protocols

https://youtu.be/yP14a2Qzx8c
DATABASE PROTOCOLS OVERVIEW
Oracle Two-Tier
Two-Tier and Three-Tier Computing Models

Measures of query cost

The document discusses measures of query cost in database management systems. It explains that query cost can be measured by factors like the number of disk accesses, size of the table, and time taken by the CPU. It further breaks down disk access time into components like seek time, rotational latency, and sequential vs. random I/O. The document then provides an example formula to calculate estimated query cost based on these components.

Involvement of WSN in Smart Cities

This document discusses how wireless sensor networks (WSNs) can be used in smart city applications. It first defines WSNs as self-configured, infrastructure-less networks that use sensors to monitor conditions like temperature, sound, and pollution. It then discusses how WSNs can influence lifestyle by enabling applications in areas like healthcare, transportation, the environment and more. Finally, it discusses how WSNs are a primary strength for smart cities by allowing remote and cost-effective monitoring of infrastructure and resources across applications like smart water, smart grid, and smart transportation.

Data Structure and its Fundamentals

The document provides an overview and syllabus for a course on fundamentals of data structures. It covers topics such as linear and non-linear data structures including arrays, stacks, queues, linked lists, trees and graphs. It describes various data types in C like integers, floating-point numbers, characters and enumerated types. It also discusses operations on different data structures and analyzing algorithm complexity.

WORKING WITH FILE AND PIPELINE PARAMETER BINDING

EXPORTING USER INFORMATION TO A FILE
SEND OUTPUT CONSISTING OF PIPELINE DATA
PREDICTING PIPELINE BEHAVIOR

Generative AI leverages algorithms to create various forms of content

Generative AI leverages algorithms to create various forms of content

Virtualization: A Key to Efficient Cloud Computing

Virtualization: A Key to Efficient Cloud Computing

Automating the Cloud: A Deep Dive into Virtual Machine Provisioning

Automating the Cloud: A Deep Dive into Virtual Machine Provisioning

Harnessing the Power of Google Cloud Platform: Strategies and Applications

Harnessing the Power of Google Cloud Platform: Strategies and Applications

Scheduling in Cloud Computing

Scheduling in Cloud Computing

Cloud-Case study

Cloud-Case study

RAID

RAID

Load balancing in cloud computing.pptx

Load balancing in cloud computing.pptx

Cluster Computing

Cluster Computing

ITU-T requirement for cloud and cloud deployment model

ITU-T requirement for cloud and cloud deployment model

Leetcode Problem Solution

Leetcode Problem Solution

Leetcode Problem Solution

Leetcode Problem Solution

Trie Data Structure

Trie Data Structure

Reviewing basic concepts of relational database

Reviewing basic concepts of relational database

Reviewing SQL Concepts

Reviewing SQL Concepts

Advanced database protocols

Advanced database protocols

Measures of query cost

Measures of query cost

Involvement of WSN in Smart Cities

Involvement of WSN in Smart Cities

Data Structure and its Fundamentals

Data Structure and its Fundamentals

WORKING WITH FILE AND PIPELINE PARAMETER BINDING

WORKING WITH FILE AND PIPELINE PARAMETER BINDING

Transformers design and coooling methods

Transformer Design

AI assisted telemedicine KIOSK for Rural India.pptx

It gives the overall description of SIH problem statement " AI assisted telemedicine KIOSK for Rural India".

CHINA’S GEO-ECONOMIC OUTREACH IN CENTRAL ASIAN COUNTRIES AND FUTURE PROSPECT

The rivalry between prominent international actors for dominance over Central Asia's hydrocarbon
reserves and the ancient silk trade route, along with China's diplomatic endeavours in the area, has been
referred to as the "New Great Game." This research centres on the power struggle, considering
geopolitical, geostrategic, and geoeconomic variables. Topics including trade, political hegemony, oil
politics, and conventional and nontraditional security are all explored and explained by the researcher.
Using Mackinder's Heartland, Spykman Rimland, and Hegemonic Stability theories, examines China's role
in Central Asia. This study adheres to the empirical epistemological method and has taken care of
objectivity. This study analyze primary and secondary research documents critically to elaborate role of
china’s geo economic outreach in central Asian countries and its future prospect. China is thriving in trade,
pipeline politics, and winning states, according to this study, thanks to important instruments like the
Shanghai Cooperation Organisation and the Belt and Road Economic Initiative. According to this study,
China is seeing significant success in commerce, pipeline politics, and gaining influence on other
governments. This success may be attributed to the effective utilisation of key tools such as the Shanghai
Cooperation Organisation and the Belt and Road Economic Initiative.

哪里办理(csu毕业证书)查尔斯特大学毕业证硕士学历原版一模一样

原版一模一样【微信：741003700 】【(csu毕业证书)查尔斯特大学毕业证硕士学历】【微信：741003700 】学位证，留信认证（真实可查，永久存档）offer、雅思、外壳等材料/诚信可靠,可直接看成品样本，帮您解决无法毕业带来的各种难题！外壳，原版制作，诚信可靠，可直接看成品样本。行业标杆！精益求精，诚心合作，真诚制作！多年品质 ,按需精细制作，24小时接单,全套进口原装设备。十五年致力于帮助留学生解决难题，包您满意。
本公司拥有海外各大学样板无数，能完美还原海外各大学 Bachelor Diploma degree, Master Degree Diploma
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留信网认证的作用:
1:该专业认证可证明留学生真实身份
2:同时对留学生所学专业登记给予评定
3:国家专业人才认证中心颁发入库证书
4:这个认证书并且可以归档倒地方
5:凡事获得留信网入网的信息将会逐步更新到个人身份内，将在公安局网内查询个人身份证信息后，同步读取人才网入库信息
6:个人职称评审加20分
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8:在国家人才网主办的国家网络招聘大会中纳入资料，供国家高端企业选择人才

Null Bangalore | Pentesters Approach to AWS IAM

#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
# Scenario Covered:
- Basics of IAM in AWS
- Implementing IAM Policies with Least Privilege to Manage S3 Bucket
- Objective: Create an S3 bucket with least privilege IAM policy and validate access.
- Steps:
- Create S3 bucket.
- Attach least privilege policy to IAM user.
- Validate access.
- Exploiting IAM PassRole Misconfiguration
-Allows a user to pass a specific IAM role to an AWS service (ec2), typically used for service access delegation. Then exploit PassRole Misconfiguration granting unauthorized access to sensitive resources.
- Objective: Demonstrate how a PassRole misconfiguration can grant unauthorized access.
- Steps:
- Allow user to pass IAM role to EC2.
- Exploit misconfiguration for unauthorized access.
- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)

Mechanical Engineering on AAI Summer Training Report-003.pdf

Mechanical Engineering PROJECT REPORT ON SUMMER VOCATIONAL TRAINING
AT MBB AIRPORT

BRAIN TUMOR DETECTION for seminar ppt.pdf

BRAIN TUMOR DETECTION
AND CLASSIFICATION USING
ARTIFICIAL INTELLIGENCE

Welding Metallurgy Ferrous Materials.pdf

Welding Metallurgy Explained

Software Engineering and Project Management - Introduction, Modeling Concepts...

Introduction, Modeling Concepts and Class Modeling: What is Object orientation? What is OO development? OO Themes; Evidence for usefulness of OO development; OO modeling history. Modeling
as Design technique: Modeling, abstraction, The Three models. Class Modeling: Object and Class Concept, Link and associations concepts, Generalization and Inheritance, A sample class model, Navigation of class models, and UML diagrams
Building the Analysis Models: Requirement Analysis, Analysis Model Approaches, Data modeling Concepts, Object Oriented Analysis, Scenario-Based Modeling, Flow-Oriented Modeling, class Based Modeling, Creating a Behavioral Model.

Curve Fitting in Numerical Methods Regression

Curve Fitting

4. Mosca vol I -Fisica-Tipler-5ta-Edicion-Vol-1.pdf

Conceptos basicos de fisica

Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...

This document serves as a comprehensive step-by-step guide on how to effectively use PyCharm for remote debugging of the Windows Subsystem for Linux (WSL) on a local Windows machine. It meticulously outlines several critical steps in the process, starting with the crucial task of enabling permissions, followed by the installation and configuration of WSL.
The guide then proceeds to explain how to set up the SSH service within the WSL environment, an integral part of the process. Alongside this, it also provides detailed instructions on how to modify the inbound rules of the Windows firewall to facilitate the process, ensuring that there are no connectivity issues that could potentially hinder the debugging process.
The document further emphasizes on the importance of checking the connection between the Windows and WSL environments, providing instructions on how to ensure that the connection is optimal and ready for remote debugging.
It also offers an in-depth guide on how to configure the WSL interpreter and files within the PyCharm environment. This is essential for ensuring that the debugging process is set up correctly and that the program can be run effectively within the WSL terminal.
Additionally, the document provides guidance on how to set up breakpoints for debugging, a fundamental aspect of the debugging process which allows the developer to stop the execution of their code at certain points and inspect their program at those stages.
Finally, the document concludes by providing a link to a reference blog. This blog offers additional information and guidance on configuring the remote Python interpreter in PyCharm, providing the reader with a well-rounded understanding of the process.

KuberTENes Birthday Bash Guadalajara - K8sGPT first impressions

K8sGPT is a tool that analyzes and diagnoses Kubernetes clusters. This presentation was used to share the requirements and dependencies to deploy K8sGPT in a local environment.

Hematology Analyzer Machine - Complete Blood Count

The CBC machine is a common diagnostic tool used by doctors to measure a patient's red blood cell count, white blood cell count and platelet count. The machine uses a small sample of the patient's blood, which is then placed into special tubes and analyzed. The results of the analysis are then displayed on a screen for the doctor to review. The CBC machine is an important tool for diagnosing various conditions, such as anemia, infection and leukemia. It can also help to monitor a patient's response to treatment.

Redefining brain tumor segmentation: a cutting-edge convolutional neural netw...

Medical image analysis has witnessed significant advancements with deep learning techniques. In the domain of brain tumor segmentation, the ability to
precisely delineate tumor boundaries from magnetic resonance imaging (MRI)
scans holds profound implications for diagnosis. This study presents an ensemble convolutional neural network (CNN) with transfer learning, integrating
the state-of-the-art Deeplabv3+ architecture with the ResNet18 backbone. The
model is rigorously trained and evaluated, exhibiting remarkable performance
metrics, including an impressive global accuracy of 99.286%, a high-class accuracy of 82.191%, a mean intersection over union (IoU) of 79.900%, a weighted
IoU of 98.620%, and a Boundary F1 (BF) score of 83.303%. Notably, a detailed comparative analysis with existing methods showcases the superiority of
our proposed model. These findings underscore the model’s competence in precise brain tumor localization, underscoring its potential to revolutionize medical
image analysis and enhance healthcare outcomes. This research paves the way
for future exploration and optimization of advanced CNN models in medical
imaging, emphasizing addressing false positives and resource efficiency.

Engineering Drawings Lecture Detail Drawings 2014.pdf

Paul Briozzo engineering drawings lecture

Software Quality Assurance-se412-v11.ppt

testing and software quality assurance

International Conference on NLP, Artificial Intelligence, Machine Learning an...

International Conference on NLP, Artificial Intelligence, Machine Learning and Applications (NLAIM 2024) offers a premier global platform for exchanging insights and findings in the theory, methodology, and applications of NLP, Artificial Intelligence, Machine Learning, and their applications. The conference seeks substantial contributions across all key domains of NLP, Artificial Intelligence, Machine Learning, and their practical applications, aiming to foster both theoretical advancements and real-world implementations. With a focus on facilitating collaboration between researchers and practitioners from academia and industry, the conference serves as a nexus for sharing the latest developments in the field.

Transformers design and coooling methods

Transformers design and coooling methods

spirit beverages ppt without graphics.pptx

spirit beverages ppt without graphics.pptx

AI assisted telemedicine KIOSK for Rural India.pptx

AI assisted telemedicine KIOSK for Rural India.pptx

CHINA’S GEO-ECONOMIC OUTREACH IN CENTRAL ASIAN COUNTRIES AND FUTURE PROSPECT

CHINA’S GEO-ECONOMIC OUTREACH IN CENTRAL ASIAN COUNTRIES AND FUTURE PROSPECT

哪里办理(csu毕业证书)查尔斯特大学毕业证硕士学历原版一模一样

哪里办理(csu毕业证书)查尔斯特大学毕业证硕士学历原版一模一样

Null Bangalore | Pentesters Approach to AWS IAM

Null Bangalore | Pentesters Approach to AWS IAM

Mechanical Engineering on AAI Summer Training Report-003.pdf

Mechanical Engineering on AAI Summer Training Report-003.pdf

BRAIN TUMOR DETECTION for seminar ppt.pdf

BRAIN TUMOR DETECTION for seminar ppt.pdf

Welding Metallurgy Ferrous Materials.pdf

Welding Metallurgy Ferrous Materials.pdf

Software Engineering and Project Management - Introduction, Modeling Concepts...

Software Engineering and Project Management - Introduction, Modeling Concepts...

Properties Railway Sleepers and Test.pptx

Properties Railway Sleepers and Test.pptx

Curve Fitting in Numerical Methods Regression

Curve Fitting in Numerical Methods Regression

4. Mosca vol I -Fisica-Tipler-5ta-Edicion-Vol-1.pdf

4. Mosca vol I -Fisica-Tipler-5ta-Edicion-Vol-1.pdf

Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...

Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...

KuberTENes Birthday Bash Guadalajara - K8sGPT first impressions

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Hematology Analyzer Machine - Complete Blood Count

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- 2. KINEMATIC MODEL VS DYNAMIC MODEL TOPICS COVERED: Definition Forward and inverse models Formulation methods Uses and applications
- 3. KINEMATIC MODEL DEFINITION: The kinematic model studies the motion of a robot mechanism regardless of forces and torque that cause it. It allows to compute the position and orientation of robot manipulator’s end-effector relative to the base of the manipulator as a function of the joint variables.
- 4. KINEMATIC MODEL FORWARD KINEMATIC MODEL: The forward kinematic problem asks: once the joint position, velocity, acceleration are known, compute the corresponding variables of the end- effector in a given reference frame (e.g. a Cartesian frame). The forward kinematic model can be defined as a function f defined between the joint space Rn and the work space Rm: x=f(q) ; x∈Rm, q∈Rn
- 5. KINEMATIC MODEL INVERSE KINEMATIC MODEL: Inverse Kinematic Problem: computation of the relevant variables (positions, velocities, accelerations) from the work space to the joint space. Inverse Kinematic Model: function g=f-1 from Rm to Rn: q = g(x) = f-1(x); q∈Rn, x∈Rm
- 6. KINEMATIC MODEL DENAVIT-HARTENBERG NOTATIONS: In DH convention notation system, each link can be represented by two parameters, namely the link length ai and the link twist angle αi. The link twist angle αi indicates the axis twist angle of two adjacent joints i and i - 1. Joints are also described by two parameters, namely the link offset di, which indicates the distance from a link to next link along the axis of joint i, and the joint revolute angle Ɵi, whichis the rotation of one link with respect to the next about the joint axis .Usually, three of these four parameters are fixed while one variable is called joint variable. For a revolute joint, the joint variable is parameter Ɵi, while for a prismatic joint, it will be di.
- 7. KINEMATIC MODEL DENAVIT-HARTENBERG NOTATIONS (contd.): The four parameters of each link can be specified using DH notation method. With these parameters, link homogeneous transform matrix which transforms link coordinate frame i-1 to frame i. here sin(Ɵ) is abbreviated as sƟ and cos(Ɵ) as cƟ, Rj denotes rotation about axis j, and Tj denotes translation along axis j .
- 8. KINEMATIC MODEL USES: The robotic kinematics is essential for describing an end- effector’s position, orientation as well as motion of all the joints. In order to deal with the complex geometry of a robot manipulator, the properly chosen coordinate frames are fixed to various parts of the mechanism and then we can formulate the relationships between these frames. The manipulator kinematics mainly studies how the locations of these frames change as the robot joints move.
- 9. DYNAMIC MODEL DEFINITION: Robot dynamics is the study of the relation between the applied forces/torques and the resulting motion of an industrial manipulator. The dynamic model of a robot studies the relation between the joint actuator torques and the resulting motion.
- 10. DYNAMIC MODEL DIRECT DYNAMIC MODEL: Problem: Once the forces/torques applied to the joints, as well as the joint positions and velocities are known, compute the joint accelerations.
- 11. DYNAMIC MODEL INVERSE DYNAMIC MODEL: Problem: Once the joint accelerations, velocities and positions are known, compute the corresponding forces/torques.
- 12. DYNAMIC MODEL FORMULATION METHODS: There are two commonly used methods for formulating the dynamics,based on the specific geometric and inertial parameters of the robot: the Lagrange–Euler (L–E) formulation the Newton–Euler (N–E) method Both are equivalent, as both describe the dynamic behaviour of the robot motion, but are specifically useful for different purposes.
- 13. DYNAMIC MODEL LAGRANGE-EULER FORMULATION: The L–E method is based on simple and systematic methods to calculate the kinetic and potential energies of a rigid body system. The equations of dynamic motion for a robot manipulator are highly nonlinear, consisting of inertial and gravity terms, and are dependent on the link physical parameters and configuration (i.e., position, angular velocity and acceleration). This provides the closed form of the robot dynamics, and is therefore applicable to the analytical computation of robot dynamics, and therefore can be used to design joint-space (or task-space, using transformation via the Jacobian) control strategies. The L–E formulation may also be used for forward and inverse dynamic calculation, but this requires the calculation of a large number of coefficients in M(q) and C(q, q˙), which may take a long time. This makes this method somewhat unsuitable for online dynamic calculations.
- 14. DYNAMIC MODEL NEWTON-EULER METHOD: The N-E formulation is based on a balance of all the forces acting on the generic link of the manipulator; this forms a set of equations with a recursive solution, and was developed. A forward recursion propagates link velocities and accelerations, then a backward recursion propagates the forces and torques along the manipulator chain. This is developed as a more efficient method than L–E, and is based on the principle of the manipulator being a serial chain; when a force is applied to one link, it may also produce motion in connected links. Due to this effect, there may be considerable duplication of calculation, which can be avoided if expressed in a recursive form. This reduction in computational load greatly reduces calculation time, allowing the forward and inverse dynamics calculations to be performed in real-time; therefore, it can enable real-time torque control methods of robot manipulators.
- 15. DYNAMIC MODEL USES: Dynamics modelling is crucial for analyzing and synthesizing the dynamic behaviour of robot. An accurate dynamics model of a robot manipulator is useful in many ways: for the design of motion control systems, analysis of mechanical design, simulation of manipulator motion, etc.
- 16. KINEMATIC MODEL VS DYNAMIC MODEL KINEMATIC MODEL DYNAMIC MODEL Studies the motion of a robot mechanism regardless of forces and torque that cause it. DH notations are used. Essential for describing an end-effector’s position, orientation as well as motion of all the joints. Studies the relation between the joint actuator torques and the resulting motion. LE and NE methods are used. Crucial for analyzing and synthesizing the dynamic behaviour of robot.