The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived t...The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived through the sense, the spinor method directly converges tracking error in the planning. It promotes the dynamic accuracy of trace operation. It is also suitable to the exerciser with redundant freedom.展开更多
A method known as spinor method is applied to the study of dynamic model of robot.It merges velocity and angular velocity.Force and moments into an organic whole by their internal relation, and mates Newton-Euler meth...A method known as spinor method is applied to the study of dynamic model of robot.It merges velocity and angular velocity.Force and moments into an organic whole by their internal relation, and mates Newton-Euler method more concise and efficient.A reference system is formed with respect to the mass center of the arms of robot, which simplifies the calculation of inertial lensor and mass center acceleration.And further reduces work load in calculation, and thus ensures a fast real-timecalculation.展开更多
Tensor reduction is of considerable importance in calculations of multi-loop amplitudes,and the projection method is one of the most popular approaches for tensor reduction.However,the projection method can be problem...Tensor reduction is of considerable importance in calculations of multi-loop amplitudes,and the projection method is one of the most popular approaches for tensor reduction.However,the projection method can be problematic when applied to amplitudes with massive fermions,due to the inconsistency between helicity and chirality.We propose an extended projection method for reducing the loop amplitude which contains a fermion chain with two massive spinors.The extension is achieved by decomposing one of the massive spinors into two massless spinors,the"null spinor"and the"reference spinor".The extended projection method can be effectively applied in all processes,including the production of massive fermions.We present the tensor reduction for a virtual Z boson decaying into a top-quark pair as a demonstration of our approach.展开更多
文摘The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived through the sense, the spinor method directly converges tracking error in the planning. It promotes the dynamic accuracy of trace operation. It is also suitable to the exerciser with redundant freedom.
文摘A method known as spinor method is applied to the study of dynamic model of robot.It merges velocity and angular velocity.Force and moments into an organic whole by their internal relation, and mates Newton-Euler method more concise and efficient.A reference system is formed with respect to the mass center of the arms of robot, which simplifies the calculation of inertial lensor and mass center acceleration.And further reduces work load in calculation, and thus ensures a fast real-timecalculation.
基金Supported by the National Natural Science Foundation of China(11675185)
文摘Tensor reduction is of considerable importance in calculations of multi-loop amplitudes,and the projection method is one of the most popular approaches for tensor reduction.However,the projection method can be problematic when applied to amplitudes with massive fermions,due to the inconsistency between helicity and chirality.We propose an extended projection method for reducing the loop amplitude which contains a fermion chain with two massive spinors.The extension is achieved by decomposing one of the massive spinors into two massless spinors,the"null spinor"and the"reference spinor".The extended projection method can be effectively applied in all processes,including the production of massive fermions.We present the tensor reduction for a virtual Z boson decaying into a top-quark pair as a demonstration of our approach.
