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Tracking data of a Remotely Operated Vehicle and its tether using a motion capture system and a tension sensor. [PDF]
Sci DataKhanmeh J +3 more
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A Double Shooting Method for Two-Point Boundary Value Problems in Multibody Dynamics
Eichmeir P, Steiner W.
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Dynamics Computation of a Hybrid Multi-link Humanoid Robot Integrating Rigid and Soft Bodies
IEEE/RJS International Conference on Intelligent RObots and Systems, 2021This study presents dynamics computation and control of a hybrid multi-link system that integrates rigid- and soft-bodies. It is a challenging problem to install a softness in a robot system, which is an important factor in human body.
Taiki Ishigaki, Ko Yamamoto
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Dynamics of Particles and Rigid Bodies
Engineering Practice with Oilfield and Drilling Applications, 2022oughly covered. Especially well treated is the topic of robot control. With authoritative introductions to joint trajectory tracking, force control, geometric nonlinear control, and vision-based control, this book also serves as an appropriate addition ...
Bingen Yang
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Dynamics and control of capture of a floating rigid body by a spacecraft robotic arm
Multibody System Dynamics, 2014zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Liu, Xiao-Feng +4 more
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International Journal of Adaptive Control and Signal Processing, 2018
SummaryThis paper investigates the control of a single‐link flexible robot manipulator with a tip payload appointed to rotate about 2 perpendicular axes in space. The control objective is to regulate the rigid body rotation of the manipulator with guaranteeing the stability of its vibration in the presence of exogenous disturbances.
Ali Tavasoli, Omid Mohammadpour
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SummaryThis paper investigates the control of a single‐link flexible robot manipulator with a tip payload appointed to rotate about 2 perpendicular axes in space. The control objective is to regulate the rigid body rotation of the manipulator with guaranteeing the stability of its vibration in the presence of exogenous disturbances.
Ali Tavasoli, Omid Mohammadpour
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IEEE Control Systems, 2023
Traditional robot designs typically employ rigid body parts and high-torque servo motors. This helps to obtain simple reproducible models and, therefore, to facilitate control.
H. Hauser +2 more
semanticscholar +1 more source
Traditional robot designs typically employ rigid body parts and high-torque servo motors. This helps to obtain simple reproducible models and, therefore, to facilitate control.
H. Hauser +2 more
semanticscholar +1 more source
Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics
IEEE International Conference on Robotics and Automation, 2022We present simplified 2D dynamic models of the 3D, passive dynamic inspired walking gait of a physical quasi-passive walking robot. Quasi-passive walkers are robots that integrate passive walking principles and some form of actuation.
S. Islam +5 more
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IEEE Control Systems Letters, 2022
Pneumatic soft robots have become the premier soft robot type among the plethora of soft robot testbeds under research, being the continuum pneumatic soft robot (cPSR) the most compliant, yet challenging due to its hyperelastic behavior of its ...
Jorge E. Ayala-Carrillo +3 more
semanticscholar +1 more source
Pneumatic soft robots have become the premier soft robot type among the plethora of soft robot testbeds under research, being the continuum pneumatic soft robot (cPSR) the most compliant, yet challenging due to its hyperelastic behavior of its ...
Jorge E. Ayala-Carrillo +3 more
semanticscholar +1 more source
Second order sliding mode control using unit dual-quaternion dynamics with application to robotics
International Workshop on Variable Structure Systems, 2018This paper gives a new control framework for connected rigid bodies using unit dual quaternion dynamics. The equations of motion are obtained by direct differentiation of dual quaternion that represents the pose and position of the end effector.
Kirtiman Singh, Harshal B. Oza
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