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The closed form solution of the inverse kinematic problem of 3r positioning manipulators

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Naked singularity

In general relativity, a naked singularity is a hypothetical gravitational singularity without an event horizon. In a black hole, the singularity is completely enclosed by a boundary known as the event horizon, inside which the curvature of spacetime caused by the singularity is so strong that light cannot escape. Hence, objects inside the event horizon—including the singularity itself—cannot be observed directly. A naked singularity, by contrast, would be observable from the outside.

Overconstrained mechanism

In mechanical engineering, an overconstrained mechanism is a linkage that has more degrees of freedom than is predicted by the mobility formula. The mobility formula evaluates the degree of freedom of a system of rigid bodies that results when constraints are imposed in the form of joints between the links. If the links of the system move in three-dimensional space, then the mobility formula is where N is the number of links in the system, j is the number of joints, and fi is the degree of freedom of the ith joint.

Type conversion

In computer science, type conversion, type casting, type coercion, and type juggling are different ways of changing an expression from one data type to another. An example would be the conversion of an integer value into a floating point value or its textual representation as a string, and vice versa. Type conversions can take advantage of certain features of type hierarchies or data representations.

Intuitionistic type theory

Intuitionistic type theory (also known as constructive type theory, or Martin-Löf type theory) is a type theory and an alternative foundation of mathematics. Intuitionistic type theory was created by Per Martin-Löf, a Swedish mathematician and philosopher, who first published it in 1972. There are multiple versions of the type theory: Martin-Löf proposed both intensional and extensional variants of the theory and early impredicative versions, shown to be inconsistent by Girard's paradox, gave way to predicative versions.

Dependent type

In computer science and logic, a dependent type is a type whose definition depends on a value. It is an overlapping feature of type theory and type systems. In intuitionistic type theory, dependent types are used to encode logic's quantifiers like "for all" and "there exists". In functional programming languages like Agda, ATS, Coq, F*, Epigram, and Idris, dependent types help reduce bugs by enabling the programmer to assign types that further restrain the set of possible implementations.

Singular point of an algebraic variety

In the mathematical field of algebraic geometry, a singular point of an algebraic variety V is a point P that is 'special' (so, singular), in the geometric sense that at this point the tangent space at the variety may not be regularly defined. In case of varieties defined over the reals, this notion generalizes the notion of local non-flatness. A point of an algebraic variety which is not singular is said to be regular. An algebraic variety which has no singular point is said to be non-singular or smooth.

Linkage (mechanical)

A mechanical linkage is an assembly of systems connected to manage forces and movement. The movement of a body, or link, is studied using geometry so the link is considered to be rigid. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. A linkage modeled as a network of rigid links and ideal joints is called a kinematic chain. Linkages may be constructed from open chains, closed chains, or a combination of open and closed chains.

Singular value decomposition

In linear algebra, the singular value decomposition (SVD) is a factorization of a real or complex matrix. It generalizes the eigendecomposition of a square normal matrix with an orthonormal eigenbasis to any matrix. It is related to the polar decomposition. Specifically, the singular value decomposition of an complex matrix M is a factorization of the form where U is an complex unitary matrix, is an rectangular diagonal matrix with non-negative real numbers on the diagonal, V is an complex unitary matrix, and is the conjugate transpose of V.

C Sharp (programming language)

C# (pronounced ) is a general-purpose high-level programming language supporting multiple paradigms. C# encompasses static typing, strong typing, lexically scoped, imperative, declarative, functional, generic, object-oriented (class-based), and component-oriented programming disciplines. The C# programming language was designed by Anders Hejlsberg from Microsoft in 2000 and was later approved as an international standard by Ecma (ECMA-334) in 2002 and ISO/IEC (ISO/IEC 23270) in 2003. Microsoft introduced C# along with .

Geometric algebra

In mathematics, a geometric algebra (also known as a real Clifford algebra) is an extension of elementary algebra to work with geometrical objects such as vectors. Geometric algebra is built out of two fundamental operations, addition and the geometric product. Multiplication of vectors results in higher-dimensional objects called multivectors. Compared to other formalisms for manipulating geometric objects, geometric algebra is noteworthy for supporting vector division and addition of objects of different dimensions.