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IJ
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T
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ick
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Seq
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1
3
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w
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
0
8
9
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4856
IJ
RA
Vo
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6
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No
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2
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201
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1
1
2
–
12
0
114
W
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ates
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[
1
6
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g
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r
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1
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[
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√
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5
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(
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6
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(
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.
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t is also
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]
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√
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7
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(
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，
，
=
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z
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h
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to
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⃗
⃗
⃗
⃗
⃗
⃗
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p
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s
ed
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.
⃗
⃗
⃗
⃗
⃗
⃗
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9
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T
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ac
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|
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⃗
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w
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ce
th
e
f
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in
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eq
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at
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(
1
0
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12)
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Delta
P
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1
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1
1
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1
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13)
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3
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[
1
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.
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Delta
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atio
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Fig
u
r
e
3.
A
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tical
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f
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w
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m
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(
1
5
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{
∑
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(
1
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is
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u
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3
.
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1
6
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,
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o
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p
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itio
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o
f
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s
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n
Fi
g
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r
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4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
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201
7
:
1
1
2
–
12
0
116
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at
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1
7
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A
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1
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u
r
e
4
.
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iag
r
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3
2
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m
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h
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n
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m
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1
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IJ
RA
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N:
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2
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I
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)
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[
1
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]
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2
7
)
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t
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Delta
P
a
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b
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s
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th
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j
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tp
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4.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
,
it
p
r
esen
t
th
e
cr
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k
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s
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m
ec
h
a
n
is
m
ap
p
lied
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o
Delta
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ar
allel
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o
b
o
t
f
o
r
th
e
p
ick
-
a
n
d
-
p
lace
o
p
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atio
n
,
m
o
tio
n
s
i
m
u
latio
n
is
ca
r
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ied
o
u
t
i
n
t
h
e
v
i
r
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al
p
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ty
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e
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o
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，
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d
th
e
f
o
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ce
an
d
t
h
e
o
u
tp
u
t
to
r
q
u
e
o
f
th
e
r
o
b
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t
-
d
r
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v
en
j
o
in
t
ar
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u
s
ed
as
th
e
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ai
n
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er
f
o
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m
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n
ce
in
d
ex
e
s
.
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h
e
r
esear
ch
r
esu
lt
s
v
er
if
y
th
at
t
h
e
d
elta
r
o
b
o
t d
r
iv
en
b
y
t
h
e
cr
an
k
s
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m
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h
a
n
is
m
ca
n
ef
f
ec
ti
v
el
y
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ed
u
ce
th
e
f
o
r
ce
an
d
o
u
tp
u
t
to
r
q
u
e.
1.
P
ath
p
lan
n
i
n
g
o
f
p
ick
-
a
n
d
-
p
la
ce
o
p
er
atio
n
.
Dete
r
m
in
i
n
g
th
e
s
h
ap
e
o
f
th
e
cu
r
v
e
i
n
C
ar
tesi
an
s
p
ac
e,
th
e
p
o
s
itio
n
co
o
r
d
in
ates,
v
elo
cit
y
a
n
d
ac
ce
ler
atio
n
o
f
t
h
e
r
o
b
o
t
a
r
e
o
b
tain
ed
ac
co
r
d
in
g
to
th
e
co
r
r
esp
o
n
d
in
g
ti
m
e
s
er
ies.
2.
I
n
p
u
t
s
o
lu
t
io
n
o
f
ea
c
h
co
n
t
r
o
l
an
g
le
o
f
j
o
in
t
d
r
iv
e.
B
ased
o
n
t
h
e
in
v
er
s
e
s
o
l
u
tio
n
t
h
eo
r
y
o
f
Delt
a
m
ec
h
a
n
i
s
m
a
n
d
p
lan
n
ed
r
o
b
o
t
en
d
tr
aj
ec
to
r
y
,
ea
ch
co
n
tr
o
l a
n
g
le
o
f
j
o
in
t d
r
iv
e
is
s
o
l
v
ed
.
3.
E
s
tab
lis
h
m
e
n
t
o
f
S
tatic
tr
an
s
m
i
s
s
io
n
m
at
h
e
m
atica
l
m
o
d
el
o
f
th
e
Delta
m
ec
h
a
n
is
m
.
Ma
k
e
f
o
r
ce
tr
an
s
m
is
s
io
n
an
al
y
s
is
f
o
r
m
ec
h
an
i
s
m
f
o
r
u
s
in
g
a
n
d
n
o
t
u
s
i
n
g
cr
an
k
-
s
l
id
er
.
A
n
d
i
t
is
p
r
o
v
ed
th
at
De
lta
m
ec
h
a
n
i
s
m
b
ased
o
n
cr
a
n
k
-
s
li
d
er
m
ec
h
an
is
m
ca
n
r
ed
u
ce
t
h
e
f
o
r
ce
an
d
o
u
tp
u
t to
r
q
u
e.
4.
An
al
y
s
i
s
o
f
m
o
tio
n
s
i
m
u
latio
n
i
s
ca
r
r
ied
o
u
t
in
t
h
e
v
ir
tu
a
l
p
r
o
to
ty
p
e
s
o
f
t
w
ar
e.
T
h
r
o
u
g
h
t
h
e
d
esi
g
n
o
f
th
e
p
r
o
to
t
y
p
e
m
o
d
el,
t
h
e
m
o
t
i
o
n
s
i
m
u
latio
n
o
f
p
ic
k
-
a
n
d
-
p
la
ce
o
p
er
atio
n
,
it
ca
n
b
e
d
ec
id
ed
th
at
Delt
a
m
ec
h
a
n
i
s
m
b
ased
o
n
cr
a
n
k
-
s
l
id
er
m
ec
h
a
n
is
m
ca
n
r
ed
u
ce
t
h
e
f
o
r
ce
an
d
o
u
tp
u
t
to
r
q
u
e
a
n
d
h
av
e
g
o
o
d
p
r
ac
tical
ap
p
licatio
n
v
alu
e.
RE
F
E
R
E
NC
E
S
[1
]
CLA
V
EL
R.
De
v
ic
e
f
o
r
th
e
m
o
v
e
m
e
n
t
a
n
d
p
o
sit
io
n
in
g
o
f
a
n
e
lem
e
n
t
i
n
sp
a
c
e
:
USA
,
4
9
7
6
5
8
2
[P
]
.
1
9
9
0
-
12
-
11.
[2
]
P
o
p
p
e
o
v
á
V
,
Uríč
e
k
J,
Bu
lej
V
,
e
t
a
l.
De
lt
a
ro
b
o
ts
–
r
o
b
o
ts
f
o
r
h
ig
h
sp
e
e
d
m
a
n
ip
u
latio
n
[
J].
T
e
h
n
ičk
i
v
jes
n
ik
,
2
0
1
1
,
1
8
(
3
):
4
3
5
-
4
4
5
.
[3
]
M
il
u
ti
n
o
v
ic
D,
S
lav
k
o
v
ic
N,
Ko
k
o
to
v
ic
B,
e
t
a
l.
KIN
EM
A
T
IC
M
OD
EL
IN
G
OF
RECO
NFIG
UR
A
B
L
E
P
A
RALL
EL
ROBO
T
S
B
A
S
ED
ON
DELT
A
CON
CEP
T
[
J].
2
0
1
2
.
[4
]
Bo
n
e
v
I.
De
lt
a
p
a
ra
ll
e
l
r
o
b
o
t
—
th
e
sto
ry
o
f
su
c
c
e
ss
[
J]
.
Ne
w
sle
tt
e
r,
a
v
a
il
a
b
le at h
tt
p
:/
/w
ww
.
p
a
ra
ll
e
lm
ic.
o
rg
,
2
0
0
1
.
[5
]
P
ierr
o
t
F
,
Na
b
a
t
V
,
C
o
m
p
a
n
y
O,
e
t
a
l.
Op
ti
m
a
l
d
e
si
g
n
o
f
a
4
-
DO
F
p
a
ra
ll
e
l
m
a
n
ip
u
lato
r:
F
r
o
m
a
c
a
d
e
m
ia
to
in
d
u
stry
[
J]
.
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Ro
b
o
ti
c
s,
2
0
0
9
,
2
5
(2
):
2
1
3
-
2
2
4
.
[6
]
P
ierr
o
t
F
,
M
a
r
q
u
e
t
F
,
Co
m
p
a
n
y
O,
e
t
a
l.
H4
p
a
ra
ll
e
l
ro
b
o
t:
m
o
d
e
li
n
g
,
d
e
sig
n
a
n
d
p
re
li
m
in
a
ry
e
x
p
e
ri
m
e
n
ts[
C]//
Ro
b
o
t
ics
a
n
d
Au
to
m
a
ti
o
n
,
2
0
0
1
.
P
r
o
c
e
e
d
in
g
s
2
0
0
1
ICRA
.
IEE
E
I
n
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
.
IEE
E,
2
0
0
1
,
4
:
3
2
5
6
-
3
2
6
1
.
[7
]
Na
b
a
t
V
,
d
e
la
O
ROD
RI
GU
EZ
M
,
Co
m
p
a
n
y
O,
e
t
a
l.
P
a
r4
:
V
e
ry
h
ig
h
sp
e
e
d
p
a
ra
ll
e
l
ro
b
o
t
f
o
r
p
ick
-
a
n
d
-
p
lac
e
[
C
]
//
I
n
telli
g
e
n
t
R
o
b
o
ts
a
n
d
S
y
st
e
m
s,
2
0
0
5
.
(IROS
2
0
0
5
)
.
2
0
0
5
IEE
E/
RS
J
I
n
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
.
IEE
E
,
2
0
0
5
:
5
5
3
-
5
5
8
.
[8
]
A
d
e
p
t
Qu
a
tt
ro
s
6
5
0
H
[
EB/
OL
]
.
[2
0
1
5
-
05
-
1
6
].
h
tt
p
:/
/w
ww
.
a
d
e
p
t.
c
o
m
/p
ro
d
u
c
ts/r
o
b
o
ts/
p
a
ra
ll
e
l/
q
u
a
tt
r
o
-
s6
5
0
h
/g
e
n
e
ra
l.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
1
1
2
–
12
0
120
[9
]
ZHA
N
G
L
i
m
in
,
M
EI
ji
a
n
g
p
in
g
,
HU
A
N
G
T
ian
.
D
y
n
a
m
ic
Di
m
e
n
sio
n
a
l
S
y
n
th
e
sis
o
f
De
lt
a
Ro
b
o
t
[
J
]
.
Ch
i
n
e
se
Jo
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
ri
n
g
，
2
0
1
0
，
4
6
(
3
):
2
-
3.
[1
0
]
Co
d
o
u
re
y
A
.
D
y
n
a
m
ic
m
o
d
e
li
n
g
o
f
p
a
ra
ll
e
l
ro
b
o
ts
f
o
r
c
o
m
p
u
ted
-
to
rq
u
e
c
o
n
tr
o
l
im
p
le
m
e
n
tatio
n
[
J
]
.
T
h
e
In
tern
a
ti
o
n
a
l
Jo
u
rn
a
l
o
f
Ro
b
o
ti
c
s
Re
se
a
rc
h
,
1
9
9
8
,
1
7
(
1
2
):
1
3
2
5
-
1
3
3
6
.
[1
1
]
WA
N
G
P
,
M
EI
J,
HU
A
N
G
T
.
T
ime
Op
ti
m
a
l
P
a
th
P
lan
n
in
g
o
f
a
2
-
DO
F
Hig
h
-
S
p
e
e
d
P
a
ra
ll
e
l
Ro
b
o
t
[
J
][
J
]
.
J
o
u
r
n
a
l
o
f
T
ian
ji
n
Un
iv
e
rsity
,
2
0
0
7
,
1
0
:
0
0
0
.
[1
2
]
L
iu
S
,
H
u
a
n
g
T
,
M
e
i
J,
e
t
a
l.
Op
ti
m
a
l
d
e
sig
n
o
f
a
4
-
DO
F
S
CA
RA
t
y
p
e
p
a
ra
ll
e
l
ro
b
o
t
u
sin
g
d
y
n
a
m
ic
p
e
r
f
o
r
m
a
n
c
e
in
d
ice
s an
d
a
n
g
u
lar co
n
stra
in
ts
[
J
].
Jo
u
r
n
a
l
o
f
M
e
c
h
a
n
ism
s an
d
Ro
b
o
ti
c
s,
2
0
1
2
,
4
(3
)
:
0
3
1
0
0
5
.
[1
3
]
X
IE
Zex
iao
,
S
HA
NG
Da
we
i,
REN
P
in
g
.
O
p
ti
m
iza
ti
o
n
a
n
d
Ex
p
e
rime
n
tal
V
e
rif
ica
ti
o
n
o
f
P
ick
-
a
n
d
-
p
lac
e
T
ra
je
c
to
r
y
f
o
r
a
De
lt
a
P
a
ra
ll
e
l
Ro
b
o
t
Ba
se
d
o
n
L
a
m
e
Cu
rv
e
s[
J]
.
Ch
i
n
e
se
Jo
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
,
2
0
1
5
,
5
1
1
:
52
-
55.
[1
4
]
Bo
u
ri
M
,
Clav
e
l
R.
T
h
e
li
n
e
a
r
d
e
lt
a
:
De
v
e
lo
p
m
e
n
ts
a
n
d
a
p
p
li
c
a
ti
o
n
s
[
C
]
//
R
o
b
o
ti
c
s
(I
S
R),
2
0
1
0
4
1
st
In
tern
a
ti
o
n
a
l
S
y
m
p
o
siu
m
o
n
a
n
d
2
0
1
0
6
th
G
e
r
m
a
n
Co
n
f
e
re
n
c
e
o
n
Ro
b
o
ti
c
s (ROBO
T
IK).
V
DE,
2
0
1
0
:
1
-
8.
[1
5
]
M
il
u
ti
n
o
v
ic
D
,
S
lav
k
o
v
ic
N,
Ko
k
o
to
v
ic
B,
e
t
a
l.
KIN
EM
A
T
IC
M
OD
EL
IN
G
OF
RECO
NFIG
UR
A
B
L
E
P
A
RALL
EL
ROBO
T
S
B
A
S
ED
ON
DELT
A
CON
CEP
T
[
J].
2
0
1
2
.
[1
6
]
L
I
A
N
G
X
ian
g
n
in
g
,
NIU
Zh
i
g
a
n
g
.
Kin
e
m
a
ti
c
A
n
a
l
y
sis
a
n
d
W
o
rk
s
p
a
c
e
o
f
3
-
Do
f
De
lt
a
P
a
ra
ll
e
l
Ro
b
o
t
[
J
]
.
Jo
u
rn
a
l
o
f
T
a
i
Yu
a
n
Un
iv
e
rsit
y
o
f
T
e
c
h
n
o
lo
g
y
,
2
0
0
8
,
3
9
1
:
9
4
-
9
5
.
[1
7
]
HA
N
Jia
n
g
y
i,
YO
U
Yo
u
p
e
n
g
,
WA
N
G
Hu
a
m
in
g
.
A
n
a
l
y
sis
o
n
F
o
rc
e
T
ra
n
s
m
issio
n
o
f
P
a
ra
ll
e
l
M
e
c
h
a
n
ism
[
J].
ROBO
T
,
2
0
0
9
,
3
1
6
：
5
2
3
-
5
2
5
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Zh
e
Qin
,
w
a
s
b
o
rn
i
n
G
u
a
n
g
X
i
p
ro
v
in
c
e
,
Ch
in
a
in
1
9
9
3
.
A
s
a
p
o
stg
ra
d
u
a
te
f
ro
m
th
e
G
u
a
n
g
Zh
o
u
Un
iv
e
rsity
,
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
M
e
c
h
a
n
ica
l
De
s
ig
n
,
m
a
c
h
in
e
lea
rn
in
g
,
ro
b
o
t
so
f
t
w
a
re
a
r
c
h
it
e
c
tu
re
s an
d
u
lt
ra
p
r
e
c
isio
n
m
a
c
h
in
in
g
tec
h
n
o
lo
g
y
.
X
iao
-
c
h
u
L
IU
,
w
a
s
b
o
rn
in
H
u
Na
n
p
ro
v
in
c
e
,
Ch
i
n
a
in
1
9
6
4
.
I
n
2
0
0
5
,
h
e
re
c
e
iv
e
d
th
e
P
h
.
D
.
d
e
g
re
e
o
n
S
o
u
t
h
Ch
i
n
a
Un
iv
e
rsity
o
f
T
e
c
h
n
o
lo
g
y
.
H
e
w
o
rk
s
a
s
a
re
se
a
r
c
h
a
r
a
n
d
p
ro
f
e
ss
o
r
a
t
G
u
a
n
g
z
h
o
u
Un
iv
e
rsity
.
His
re
s
e
a
rc
h
in
tere
sts
in
c
lu
d
e
G
re
e
n
M
a
n
u
f
a
c
tu
rin
g
,
u
lt
ra
p
re
c
isio
n
m
a
c
h
in
in
g
tec
h
n
o
lo
g
y
,
i
m
p
ro
v
e
p
e
rf
o
rm
a
n
c
e
o
f
b
e
a
rin
g
rin
g
a
n
d
i
n
telli
g
e
n
t
m
a
n
u
f
a
c
tu
rin
g
tec
h
n
o
l
o
g
y
.
Zh
u
a
n
ZHA
O,
w
a
s
b
o
rn
in
H
u
N
a
n
p
ro
v
in
c
e
,
C
h
in
a
i
n
1
9
9
2
.
A
s
a
p
o
stg
ra
d
u
a
te
f
ro
m
th
e
G
u
a
n
g
Zh
o
u
Un
iv
e
rsity
,
His
re
se
a
r
c
h
in
tere
sts
in
c
lu
d
e
m
a
c
h
in
e
lea
rn
in
g
a
n
d
u
lt
ra
p
re
c
isio
n
m
a
c
h
in
in
g
tec
h
n
o
l
o
g
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.