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Mechanical manipulation for a class of differential systems

Dongming Wang
1991 Journal of symbolic computation  
In this paper we describe a mechanical procedure for computing the Liapunov functions and Liapunov constants for a class of differential systems.  ...  The author has implemented a system DEMS on an HPI000 and in Scratchpad II on an IBM4341 for computing and manipulating the Liapunov functions and Liapunov constants.  ...  The author has implemented a mechanical manipulation system DEMS on an HP1000 and reimplemented part of it in computer algebra system Scratchpad II on an IBM4341 for computing and manipulating the Liapunov  ... 
doi:10.1016/s0747-7171(08)80127-7 fatcat:rhf4yytefnfddlxj7hvbatgoxu

Page 7090 of Mathematical Reviews Vol. , Issue 99j [page]

1999 Mathematical Reviews  
Summary: “Numerical methods for the efficient integration of both stiff and nonstiff equations of motion of multibody systems having the form of differential-algebraic equations (DAE) of index 3 are discussed  ...  This paper deals with a differential topological description of kine- matic singularities of robotic manipulators. Let k:R" — R” bea coordinate representation of the kinematics.  ... 

Trajectory Planning and Control for Planar Robots with Passive Last Joint

Alessandro De Luca, Giuseppe Oriolo
2002 The international journal of robotics research  
These underactuated mechanical systems, which are subject to nonholonomic second-order constraints, are shown to be fully linearized and input-output decoupled by means of a nonlinear dynamic feedback.  ...  We present a method for trajectory planning and control of planar robots with a passive rotational last joint.  ...  There is, however, another class of controlled mechanical systems that exhibit a nonholonomic behavior, namely, robots with passive degrees of freedom (also called underactuated in the literature).  ... 
doi:10.1177/027836402321261940 fatcat:xf4g57ncmjeu7hyltawoyuvi7a

Trajectory Planning and Control for Planar Robots with Passive Last Joint

Alessandro De Luca, Giuseppe Oriolo
2002 The international journal of robotics research  
These underactuated mechanical systems, which are subject to nonholonomic second-order constraints, are shown to be fully linearized and input-output decoupled by means of a nonlinear dynamic feedback.  ...  We present a method for trajectory planning and control of planar robots with a passive rotational last joint.  ...  There is, however, another class of controlled mechanical systems that exhibit a nonholonomic behavior, namely, robots with passive degrees of freedom (also called underactuated in the literature).  ... 
doi:10.1177/027836402128964431 fatcat:7clfdwaaq5b7phhgx5hqdaszlm

Energy-Optimal Trajectory Planning for Planar UnderactuatedRRRobot Manipulators in the Absence of Gravity

John Gregory, Alberto Olivares, Ernesto Staffetti
2013 Abstract and Applied Analysis  
Our method consists in a numerical resolution of a reformulation of the optimal control problem as an unconstrained calculus of variations problem in which the dynamic equations of the mechanical system  ...  for each variable are approximated using a linear combination of piecewise continuous basis functions of time.  ...  However, a general control theory for this class of mechanical systems has not been developed yet, and only solutions for particular robot models have been obtained.  ... 
doi:10.1155/2013/476094 fatcat:z2lzqdzmbvfabn3z34qgpf42aa

Hyper-stable Servo Controllers without Velocity Measurement for a Class of Nonlinear Mechanical Systems

Suguru ARIMOTO, V. PARRA-VEGA, Tomohide NANIWA
1995 Transactions of the Society of Instrument and Control Engineers  
Two kinds of hyper-stable servo controller without velocity measurement are proposed for a class of nonlinear mechanical systems.  ...  One is deduced from the passivity of mechanical systems between torque input and velocity output and the other is constructed from a hyper-stable connection called "compliant joint-connection".  ...  large class of linear velocity observers for such mechanical systems.  ... 
doi:10.9746/sicetr1965.31.1666 fatcat:vh52mqgn5ze7de4b4p4koksbvm

Re-usable kinematic models and algorithms for manipulators and vehicles

Hari D. Nayar, Issa A.D. Nesnas
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Mechanism_Model supports a wide range of systems -from manipulator arms to legged and wheeled rovers.  ...  A generalized kinematic modeling framework, called Mechanism_Model, has been developed for use in the CLARAty robotic reusable software.  ...  ACKNOWLEDGMENT This work was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.  ... 
doi:10.1109/iros.2007.4399047 dblp:conf/iros/NayarN07 fatcat:qaecnm4mzbfn7prr55uubo4key

Singularity-theoretic methods in robot kinematics

P. S. Donelan
2007 Robotica (Cambridge. Print)  
for a given manipulator architecture, usually dependent on a number of design parameters.  ...  The significance of singularities in the design and control of robot manipulators is well known and there is an extensive literature on the determination and analysis of singularities for a wide variety  ...  This evolved into a project to classify kinematic singularities and to establish genericity theorems for specific classes of mechanism.  ... 
doi:10.1017/s0263574707003748 fatcat:2muiwcxyeve3je5ktuyn435gci

A graphics toolkit based on differential constraints

Michael Gleicher
1993 Proceedings of the 6th annual ACM symposium on User interface software and technology - UIST '93  
The model of interaction used with the differential approach has a continuous notion of time, which provides the continuous motion required for graphical manipulation.  ...  The primary focus of Bramble is improve support for graphical manipulation by employing differential constraint techniques.  ...  Bramble provides mechanisms for employing these controls in the design of interaction techniques.  ... 
doi:10.1145/168642.168653 dblp:conf/uist/Gleicher93 fatcat:dhad6rsvgzbrdn5lnv6ztes5ee

Page 352 of Mathematical Reviews Vol. , Issue 84a [page]

1984 Mathematical Reviews  
Authors’ summary: “In the present paper we propose a procedure for introducing qualitative parameters for the functional capacities of manipulation systems.  ...  By the use of stochastic differential calculus, the author defines a class of a.s. optimization problems and solves them in the Hamiltonian formalism.  ... 

Intelligent computing about complex dynamical systems

Feng Zhao
1994 Mathematics and Computers in Simulation  
We develop computational mechanisms for intelligently simulating nonlinear control systems.  ...  These mechanisms enhance numerical simulations with deep domain knowledge of dynamical systems theory and control theory, a qualitative phase-space representation of dynamical systems, symbolic and geometric  ...  We present a corn-putational mechanism that allows one to represent and manipulate constraints of a control design in terms of phase-space geometry and topology of a dynamical system.  ... 
doi:10.1016/0378-4754(94)90075-2 fatcat:zsnskvfxljfxpmlj3g4izfjtra

Page 2115 of Mathematical Reviews Vol. 50, Issue 6 [page]

1975 Mathematical Reviews  
The mechanical system in question consists of an unchangeable system K of material points with variable masses, and of a mechanical system N of N material points with variable masses.  ...  A set of positions of relative equilibrium for a trihedral and a set of stable motions for axisymmetric satellites are found.  ... 

A Kinematic Analysis of Flat Leverage Mechanism of the Fourth Class for Manipulators

B Tultayev, G Balbayev, A Zhauyt
2017 IOP Conference Series: Materials Science and Engineering  
Linkwork, in its early applications, consisted mainly of revolute-connected members and was widely used for converting the continuous rotation of a water wheel into a reciprocating motion suited to piston  ...  Such compactness did not always prevail; link-works of magnificent proportions were also part of the past. A linkwork is a means of power transmission as well as being a motion transformer.  ...  For example [2] , at the solution of a problem of synthesis of directed and transmission gears of high classes it is necessary to use the kinematics equations for definition of a rotation angle  of the  ... 
doi:10.1088/1757-899x/230/1/012047 fatcat:lcfhr7gy2zawnextvks2dmfsfu

Proportional loss rate differentiation in a FIFO queue

James Aweya, Michel Ouellette, Delfin Y. Montuno
2004 Computer Communications  
The scheme is used for differentially dropping packets in a FIFO queue during times of congestion.  ...  The relative differentiated service model is one of several models proposed for service differentiation in networks [IEEE Network Sept/Oct (1999) 26].  ...  The mechanism described in this paper is for relative loss rate differentiation in a FIFO queue only and does not cover delay differentiation or the coupling of the two.  ... 
doi:10.1016/j.comcom.2004.07.003 fatcat:2lkdyjhz6rbjto6z2duwzbzp2a

Page 1209 of Mathematical Reviews Vol. , Issue 90B [page]

1990 Mathematical Reviews  
1209 70M Orbital mechanics See also 70012. 90b:70038 70MO05 70F05 Dang Dinh Hai (VN-HCMC) Note on a differential equation describing the periodic motion of a satellite in its elliptical orbit.  ...  (B-UCL) Analysis of an adaptive controller for manipulators: robustness versus flexibility. Systems Control Lett. 12 (1989), no. 3, 251-258.  ... 
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