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Motion planning for variable inertia mechanical systems
2006
Unmanned Systems Technology VIII
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In this paper, we address a particular flavor of the motion planning problem, that is, the gait generation problem for underactuated variable inertia mechanical systems. ...
Finally, we apply our analysis to a novel mechanical system, the variable inertia snakeboard, which is a generalization of the original snakeboard that was previously studied in the literature. ...
In this paper, we generate gaits for a novel mechanical system, the variable inertia snakeboard, shown in Fig. 1(a) . ...
doi:10.1117/12.662341
fatcat:qhyuyr2kybcn5j3lipacogz37i
Motion Planning for Dynamic Variable Inertia Mechanical Systems with Non-holonomic Constraints
2018
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In this paper, we address a particular flavor of the motion planning problem, that is, the gait generation problem for underactuated variable inertia mechanical systems. ...
Finally, we apply our analysis to a novel mechanical system, the variable inertia snakeboard, which is a generalization of the original snakeboard that was previously studied in the literature. ...
In this paper, we generate gaits for a novel mechanical system, the variable inertia snakeboard, shown in Fig. 1(a) . ...
doi:10.1184/r1/6555641.v1
fatcat:jbrgsgl7kfacfi7lyblhjbyxy4
Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints
2007
The international journal of robotics research
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In this paper, we generalize our prior results in motion analysis to design gaits for a more general family of underactuated mechanical systems. ...
The main challenge in motion planning for a mixed system is understanding how to separate the geometric and dynamic contributions of motion due to a general gait, thus simplifying gait analysis. ...
Moreover, the intermediate motions of the variable inertia snakeboard closely match the motions of the simulated system. ...
doi:10.1177/0278364907082098
fatcat:uc2elyij6zffzpciezdrf2rk2q
Dynamics modeling and performance analysis of underwater vehicles based on the Boltzmann-Hamel equations approach
2018
MATEC Web of Conferences
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The paper addresses dynamics modeling of underwater vehicles, which are typical examples of variable mass and configuration mechanical systems. ...
It serves free or constrained variable mass and configuration systems modeling. The example researched in the paper is an underwater vehicle, which is purely inertia-based propelled. ...
Variable mass systems are of interest in mechanics for a long time and the beginning of its theory is attributed to Mieszczerskii [4] and the beginning of analytical mechanics of these systems is dated ...
doi:10.1051/matecconf/201814803005
fatcat:ncqxxtlze5cbph4bmgmr3ij26u
Page 159 of American Society of Civil Engineers. Collected Journals Vol. 119, Issue 2
[page]
1993
American Society of Civil Engineers. Collected Journals
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Thus, the mass moment of inertia in the moving coordinate frame remains constant during the motion. ...
An essential variable in compliant motion is the generalized force exerted by the end-effector or the bucket of an excavator. ...
Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System
2015
IFAC-PapersOnLine
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This control methods could also eliminate the influence that the big load inertia ratio and the uncertain factors of the air-bearing pose control system had on the control precision. ...
This control methods could also eliminate the influence that the big load inertia ratio and the uncertain factors of the air-bearing pose control system had on the control precision. ...
The experiment system is shown infigure 4.
Fig. 5 . 5 The planned motion track when the roller is in the normal pose. ...
doi:10.1016/j.ifacol.2015.12.067
fatcat:ynbtp5ff6baexf2n4gsmrlflea
Shape space planner for shape-accelerated balancing mobile robots
2013
The international journal of robotics research
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The planner can handle systems with more shape variables than position variables, and can also handle cases where a subset of the shape variables is artificially constrained. ...
Experimental results are shown on the ballbot with arms where different desired position space motions are achieved by tracking shape space motions of either body lean angles, or arm angles or combinations ...
The authors owe great thanks to Byungjun Kim for designing and building the arms for the ballbot and also developing controllers for the same. ...
doi:10.1177/0278364913495424
fatcat:5aiq344hovgexbvnpnk73rrzei
Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems
2001
IEEE Transactions on Robotics and Automation
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We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. ...
The results in this paper form the basis for efficient collision-free trajectory planning for a class of underactuated mechanical systems including manipulators and vehicles in space and underwater environments ...
ACKNOWLEDGMENT The authors would like to thank the reviewers for their many comments on improving the exposition. ...
doi:10.1109/70.954753
fatcat:pdr2v3iekzbnhk7eww47acotkm
Page 2241 of Mathematical Reviews Vol. , Issue 91D
[page]
1991
Mathematical Reviews
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This paper is an extension of the authors’ previous research in motion planning for a robot. ...
The proposed method can be extended to deal with motion planning for multiple manipulators.
W. A. ...
Inertia Matching Manipulability and Load Matching Optimization for Humanoid Jumping Robot
2012
International Journal of Advanced Robotic Systems
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Human jumping motion includes stance phase, flight phase and landing impact phase. Jumping robot belongs to a variable constraints system because every phase has different constraint conditions. ...
A 5th order polynomial function is defined to plan COG trajectory of jumping motion, taking into account the constraint conditions of both velocity and acceleration. ...
Figure 3 shows a one DOF geared mechanism, the equation of motion is
Inertia Matching for geared mechanism 2 ip op ip I I q (10) Where ip I denotes the inertia of the input link, op ...
doi:10.5772/50916
fatcat:rrs7ypqlcngydb3u2xjqppokwq
On the design of reactionless 3-DOF planar parallel mechanisms
2006
Mechanism and Machine Theory
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Detailed mathematical model, motion planning and simulation results for a numerical example are presented towards the end of the paper. ...
Also, this design results in a large number of links for each leg and adds complexity by added masses and inertia to the system. ...
The total angular momentum of the system vanishes using two approaches: (i) through proper choice of inertia and geometric parameters, (ii) using appropriate motion planning. ...
doi:10.1016/j.mechmachtheory.2005.04.005
fatcat:a5zi74pybrglrmk23h73amjytu
Adaptive Direct Teaching Control with Variable Load of the Lower Limb Rehabilitation Robot (LLR-II)
2021
Machines
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the foundation for future work. ...
In addition, there is a lack of attention on combining direct teaching function with rehabilitation robots, which enables physiotherapists to plan trajectories directly. ...
Based on the physiotherapist's instruction, and sensing system's feedback, the central control system guides the motion control system to complete tasks of planning and training. ...
doi:10.3390/machines9080142
fatcat:hr6mv7lrybgcvg57g2zf7ww3ku
Page 5814 of Mathematical Reviews Vol. , Issue 2001H
[page]
2001
Mathematical Reviews
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planning rolling motions for dexterous robot hands.”
2001h:70017 70E60
Saramago, Sezimaria F. ...
In order to achieve all potential benefits, a deeper understanding of these types of systems and more practical algo- rithms for planning and controlling their motions are necessary. ...
Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning
[chapter]
2010
ROMANSY 18 Robot Design, Dynamics and Control
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The aim of the new approach is the optimal path planning of the robot links centre of masses, which allows a considerable reduction of the variable inertia forces transmitted to the robot frame. ...
This paper deals with the problem of shaking force balancing of high-speed robots based on a new optimal trajectory planning approach. ...
A new field for their applications is the design of mechanical systems for fast manipulation, which is a topical problem in advanced robotics. ...
doi:10.1007/978-3-7091-0277-0_36
fatcat:a5utnluezfcpjdstkuzv7fokeq
Dynamic Modeling and Motion Planning for Marionettes: Rigid Bodies Articulated by Massless Strings
2007
Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on
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Finally, an expansive-space tree (EST) motion planner is used to find a path from an input configuration to a goal for a puppet arm with seven degrees of freedom. ...
Marionettes are highly under-actuated systems that can only be controlled remotely by moving strings. ...
Arts for their ongoing contributions to this project. ...
doi:10.1109/robot.2007.363808
dblp:conf/icra/JohnsonM07
fatcat:trnmjtctkzdt5dkznhunxj4yly
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