Journal of Education for Pure Science-University of Thi-Qar

The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from the cartesian space to the joint space. The Denavit-Harbenterg (D-H) model of representation is used to model robot links and joints in this study. Both forward and inverse kinematics solutions for this robot are presented. Four sets of exact solution for the vector of the joint angles { } pertaining to the inverse kinematics problem of a MA-2000 robot with two different kinds of gripper configurations. An effective method is suggested to decrease multiple solutions in inverse kinematics.

لقد نجحت سياسة الولايات المتحدة الأمريكية تجاه منطقة الشرق الأقصى خلال الحرب الروسية اليابانية , في جعل الأخيرة تقاتل بدلاً عنها , اذ قدمت لها بعض المساعدة بقصد تحجيم الخطر الروسي على المصالح الأمريكية في الشرق الأقصى ومن ثم تدخلت لإنهاء الحرب عندما أدركت واشنطن ان تلك الحرب قد حققت هدفها , وان استمرارها قد يؤدي الى أحلال الخطر الياباني محل الخطر الروسي على المصالح الأمريكية , كما نجحت واشنطن في ادارة مفاوضات السلام بين الجانبين على أراضيها وبذلك حصدت نتائج الحرب لصالحها من خلال استمرار توازن القوى والسماح للمصالح الأمريكية بالنفوذ الــى المنطقة , و احتواء النصر الياباني وتدارك الهزيمة الروسية

In some setting, the grouping of jobs into families is a
desirable or necessary tactic, because of the similarity of their
production requirements [9].
No set up time is required for job if it belongs to the same
family of the previously processed job. Otherwise it is necessary at
the start of the schedule and on each occasion when the machine
switches from a job in one family to a job in another family.
Various applications of family scheduling models are
reported in literature. An example described by Conway, Maxwell
and Miller (1967). [2], involves the production of different colors of
paint on the same machine, a set up time is incurred for cleaning
the machine whenever there is color change. This set up time
depends on both: the color being removed and the color for which
the machine being prepared.
In this case we talk about dependent set up time, that is
dependent on both: the job to be processed and the immediately
preceding one. A second example is the scheduling of computer
system; it was described by Bruno and Downey [1]. We remark
that the required set up time depends only on the time to load the
compiler for the current job and does not depend on the previous
job. Here we talk about the independent set up time.

This study is both interdisciplinary (combining syntax and semantics) and comparative. That is, it tries to combine the syntax and semantics of verbs, and manifests how the ties between them determine the behaviour of verbs in English and Arabic.
The aim of the study is to show how meaning of the verbs affects their syntactic behaviour (the syntactic constructions) in both languages. It also aims at explaining whether this behaviour-affecting meaning works on English verbs in away different from that of Arabic ones or not. The procedures to be followed are: selecting a group of syntactic constructions in both languages, choosing verbs which have a shared meaning component to test their participation or non-participation in these constructions .Finally comparing (by tables and summaries) how meaning component determines the syntactic behaviour of these verbs (their participation or non-participation) in both languages.
It is concluded that meaning of English verbs makes them occur in or share a number of different constructions. Contrastively, meaning component in Arabic verbs makes them restricted to participation in one specific construction.

Improvisation is a fact in Arabic that can not be denied, but it has
limited impact.. Some linguists counting improvisation is one of the
methods of generation such as derivation, sculpture, contrast and joint
verbal and tandem, while others are a stand-alone phenomenon,
promised by others of the idiosyncrasies of the linguistic situation..
Improvisation is the creation of something from nothingness; for poetic
or linguistic necessity.. Some linguists count improvisation as a kind of
absurdity common among different circles of society, and soon ends,
that is, it is limited in duration.. The ancient poets and critics have made
improvisation necessary, because it is the weight and rhyme of poetry.
One of the most important results from this brief research is that the
improvised flags have been divided into two parts, a section that has a
material that is derived from them, which is the most often, and a
section that has no material because they see the possibility of naming
what does not know its origin. Once by Abu Al-Foteh Usman bin Jaini,
he named the flags movable, and improvised after the old known as
Khalil and Sibuya on behalf of the derivative of both types

The phenomenon of delay in the submission and Arabic are almost rhetorical stylistic phenomenon rather than a grammatical study because the delay of submission and study the method of installation does not install the same in spite of the presence of some Alfuerqat in the ruins of the concepts of style or rhetoric. Grammarians differed in its effect may be submitted and Ogoppe of the doer and his enemy as a matter of necessity and the most correct view is that of the son he reap Mtaalm Mstl is in the Koran and eloquent speech. The Abu Tayeb has benefited from the phenomenon of surrender and the delays and Ozvha in the industry sense, has been limited research to provide the object to the actor for reasons including audio Kaltlaam with weight poetic and other spirits are not aggregated some meanings only through this method rhetorical Baksidih fully from the originator in a crowd Almottagablat for through the submission and disposition level is saved to generate the capillary needed to build a remarkable method or the so-called Bait bottom line as well as other types of application received in the context of research and referenced.Praise be to Allah and blessings of Allah be upon our master Muhammad and The God of the good and virtuous

The phenomenon of delay in the submission and Arabic are almost rhetorical stylistic phenomenon rather than a grammatical study because the delay of submission and study the method of installation does not install the same in spite of the presence of some Alfuerqat in the ruins of the concepts of style or rhetoric. Grammarians differed in its effect may be submitted and Ogoppe of the doer and his enemy as a matter of necessity and the most correct view is that of the son he reap Mtaalm Mstl is in the Koran and eloquent speech. The Abu Tayeb has benefited from the phenomenon of surrender and the delays and Ozvha in the industry sense, has been limited research to provide the object to the actor for reasons including audio Kaltlaam with weight poetic and other spirits are not aggregated some meanings only through this method rhetorical Baksidih fully from the originator in a crowd Almottagablat for through the submission and disposition level is saved to generate the capillary needed to build a remarkable method or the so-called Bait bottom line as well as other types of application received in the context of research and referenced.Praise be to Allah and blessings of Allah be upon our master Muhammad and The God of the good and virtuous