... for solving Jacobian∕Hessian matrices and inverse∕forward velocity and acceleration of this type of parallel manipulators. First, a general parallel manipulator with n SPS-type active legs and one passive constrained leg in various possible serial structure is synthesized, and some formulae for solving...

... design engineering quadratic programming optimisation Hessian matrices iterative methods matrix algebra eigenvalues and eigenfunctions Mechanical design tasks give rise to optimization problems that in many a case pertain to nonlinear programming 1 . In some instances, for example when...