Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Continuous uniform distributionIn probability theory and statistics, the continuous uniform distributions or rectangular distributions are a family of symmetric probability distributions. Such a distribution describes an experiment where there is an arbitrary outcome that lies between certain bounds. The bounds are defined by the parameters, and which are the minimum and maximum values. The interval can either be closed (i.e. ) or open (i.e. ). Therefore, the distribution is often abbreviated where stands for uniform distribution.
Probability distributionIn probability theory and statistics, a probability distribution is the mathematical function that gives the probabilities of occurrence of different possible outcomes for an experiment. It is a mathematical description of a random phenomenon in terms of its sample space and the probabilities of events (subsets of the sample space). For instance, if X is used to denote the outcome of a coin toss ("the experiment"), then the probability distribution of X would take the value 0.5 (1 in 2 or 1/2) for X = heads, and 0.
Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
Center of massIn physics, the center of mass of a distribution of mass in space (sometimes referred to as the balance point) is the unique point at any given time where the weighted relative position of the distributed mass sums to zero. This is the point to which a force may be applied to cause a linear acceleration without an angular acceleration. Calculations in mechanics are often simplified when formulated with respect to the center of mass. It is a hypothetical point where the entire mass of an object may be assumed to be concentrated to visualise its motion.
Degenerate distributionIn mathematics, a degenerate distribution is, according to some, a probability distribution in a space with support only on a manifold of lower dimension, and according to others a distribution with support only at a single point. By the latter definition, it is a deterministic distribution and takes only a single value. Examples include a two-headed coin and rolling a die whose sides all show the same number. This distribution satisfies the definition of "random variable" even though it does not appear random in the everyday sense of the word; hence it is considered degenerate.
Pareto distributionThe Pareto distribution, named after the Italian civil engineer, economist, and sociologist Vilfredo Pareto, is a power-law probability distribution that is used in description of social, quality control, scientific, geophysical, actuarial, and many other types of observable phenomena; the principle originally applied to describing the distribution of wealth in a society, fitting the trend that a large portion of wealth is held by a small fraction of the population.
Geometric distributionIn probability theory and statistics, the geometric distribution is either one of two discrete probability distributions: The probability distribution of the number X of Bernoulli trials needed to get one success, supported on the set ; The probability distribution of the number Y = X − 1 of failures before the first success, supported on the set . Which of these is called the geometric distribution is a matter of convention and convenience. These two different geometric distributions should not be confused with each other.
Enzyme kineticsEnzyme kinetics is the study of the rates of enzyme-catalysed chemical reactions. In enzyme kinetics, the reaction rate is measured and the effects of varying the conditions of the reaction are investigated. Studying an enzyme's kinetics in this way can reveal the catalytic mechanism of this enzyme, its role in metabolism, how its activity is controlled, and how a drug or a modifier (inhibitor or activator) might affect the rate. An enzyme (E) is typically a protein molecule that promotes a reaction of another molecule, its substrate (S).
Positioning systemA positioning system is a system for determining the position of an object in space. One of the most well-known and commonly used positioning systems is the Global Positioning System (GPS). Positioning system technologies exist ranging from worldwide coverage with meter accuracy to workspace coverage with sub-millimeter accuracy. Interplanetary-radio communication systems not only communicate with spacecraft, but they are also used to determine their position.
MassMass is an intrinsic property of a body. It was traditionally believed to be related to the quantity of matter in a physical body, until the discovery of the atom and particle physics. It was found that different atoms and different elementary particles, theoretically with the same amount of matter, have nonetheless different masses. Mass in modern physics has multiple definitions which are conceptually distinct, but physically equivalent.
Distribution (mathematics)Distributions, also known as Schwartz distributions or generalized functions, are objects that generalize the classical notion of functions in mathematical analysis. Distributions make it possible to differentiate functions whose derivatives do not exist in the classical sense. In particular, any locally integrable function has a distributional derivative. Distributions are widely used in the theory of partial differential equations, where it may be easier to establish the existence of distributional solutions (weak solutions) than classical solutions, or where appropriate classical solutions may not exist.
Support (mathematics)In mathematics, the support of a real-valued function is the subset of the function domain containing the elements which are not mapped to zero. If the domain of is a topological space, then the support of is instead defined as the smallest closed set containing all points not mapped to zero. This concept is used very widely in mathematical analysis. Suppose that is a real-valued function whose domain is an arbitrary set The of written is the set of points in where is non-zero: The support of is the smallest subset of with the property that is zero on the subset's complement.
Mass spectrometryMass spectrometry (MS) is an analytical technique that is used to measure the mass-to-charge ratio of ions. The results are presented as a mass spectrum, a plot of intensity as a function of the mass-to-charge ratio. Mass spectrometry is used in many different fields and is applied to pure samples as well as complex mixtures. A mass spectrum is a type of plot of the ion signal as a function of the mass-to-charge ratio.
Indoor positioning systemAn indoor positioning system (IPS) is a network of devices used to locate people or objects where GPS and other satellite technologies lack precision or fail entirely, such as inside multistory buildings, airports, alleys, parking garages, and underground locations. A large variety of techniques and devices are used to provide indoor positioning ranging from reconfigured devices already deployed such as smartphones, WiFi and Bluetooth antennas, digital cameras, and clocks; to purpose built installations with relays and beacons strategically placed throughout a defined space.
Social influenceSocial influence comprises the ways in which individuals adjust their behavior to meet the demands of a social environment. It takes many forms and can be seen in conformity, socialization, peer pressure, obedience, leadership, persuasion, sales, and marketing. Typically social influence results from a specific action, command, or request, but people also alter their attitudes and behaviors in response to what they perceive others might do or think. In 1958, Harvard psychologist Herbert Kelman identified three broad varieties of social influence.
Position (geometry)In geometry, a position or position vector, also known as location vector or radius vector, is a Euclidean vector that represents the position of a point P in space in relation to an arbitrary reference origin O. Usually denoted x, r, or s, it corresponds to the straight line segment from O to P. In other words, it is the displacement or translation that maps the origin to P: The term position vector is used mostly in the fields of differential geometry, mechanics and occasionally vector calculus.
