On two methods of determining the ellipses and ellipsoids of positioning accuracy of robot manipulators

Summary When analysing the problem of the positioning accuracy of robot manipulators it is important to know how far random deviations of the hand may be from the desired position if the joint positioning errors possess a normal distribution. Two methods of determining the ellipses and ellipsoids of probability concentration are compared. The first of them is based on the standard procedure of the probability calculus. The second approximate method consists in finding at first the polygon or polyhedron of the positioning accuracy, and then in finding the ellipse or ellipsoid with principal axes and second order moments coinciding with those of the polygon or polyhedron, respectively. Examples of application demonstrate that these two methods give very close results.

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Zwei Methoden zur Bestimmung der Ellipsen und Ellipsoide der Positioniergenauigkeit von Handhabungsrobotern

Übersicht Bei der Untersuchung der Positioniergenauigkeit von Handhabungsrobotern ist es wichtig, die Größe zufälliger Abweichungen des Greifers von der erstrebten Position zu kennen, wenn die Lagefehler der Verbindungen eine Normalverteilung besitzen. Es werden zwei Methoden zur Bestimmung der Ellipsen bzw. Ellipsoide der Wahrscheinlichkeitsdichte verglichen. Die erste beruht auf dem Standardverfahren der Wahrscheinlichkeitsrechnung. Die zweite Näherungsmethode besteht darin, daß zunächst das Polygon bzw. Polyeder der Positioniergenauigkeit bestimmt wird und danach die Ellipse bzw. das Ellipsoid mit den Hauptachsen und Momenten zweiter Ordnung wie das Polygon oder Polyeder. Beispiele zeigen, daß beide Methoden zu sehr ähnlichen Ergebnissen führen.

     

A configuration interaction study of phosphine using bonded functions

A computational study is made of the effect of basis set upon the energy, properties and inversion barrier of the phosphine molecule. The calculations are performed at both the SCF and CI level. The flexibility of the double zeta basis is discussed in the light of the results.     

Struktur von 7,11-Diphenyl-2,4-diazaspiro[5,5]undecan-1,3,5,9-tetraonen durch LIS-NMR

A semi-quantitative method for determining distances between a possible coordination centre and protons from LIS-NMR values is developed for the title compounds3, although these have four coordination points. This makes it possible to propose structures and conformations for the isomers of3.

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Mit 4 Abbildungen

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H.-H. Otto undH. Yamamura, Ann. Chem., im Druck.     

On the Claisen Rearrangement of Allyl Ethyl Ketene Acetals Generated in situ via Benzeneselenenic Acid Eliminiation

Mixed acetals 7 of benzeneseleninylacetaldehyde, prepared by a simple 2-step procedure from mono- and bicyclic allylic alcohols 5 , undergo benzeneselenenic acid elimination to transient ketene acetals 8 which afford γ, δ-unsaturated esters 9 via the ester Claisen rearrangement (Scheme 2). Under the same conditions selenoxide 7h derived from benzyl alcohol 5h is converted back to benzyl alcohol with the concomitant formation of ethylphenylselenoacetate 12 .     

Synthesis of pyrroles from 1-dialkylamino-3-phosphoryl(or phosphanyl)allenes through 1,5-cyclization of conjugated azomethine ylide intermediates

1-Dialkylamino-1,3-diaryl-3-diphenylphosphanylallenes 3a-e are thermally converted into a-annulated 3,5-diarylpyrroles 6a-f and [a]-annulated benzo[c]azepines 7a,b,d. These transformations are likely to include conjugated azomethine ylide intermediates that can undergo either a 1,5- or a 1,7-electrocyclization. The periselectivity is markedly shifted toward 1,5-cyclization when the diphenylphosphanyl substituent is replaced by the diphenylphosphoryl group. Thus, 1-dialkylamino-3-(diphenylphosphoryl)allenes 4a-f yield pyrroles 6 exclusively and with improved yields, unless the 3-aryl substituent in the allene is too electron-rich (e.g., benzodioxol-5-yl, 4f --> 7f). The preparation and thermal transformation of aminoallenes 4 over three or four steps can be conducted as a one-pot procedure, thus providing a convenient synthesis of [a]-annulated 3,5-diarylpyrroles from enaminoketones.