Results 161 to 170 of about 16,770 (217)

A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks

IEEE Transactions on Robotics, 2009
The control approaches based on the task function formalism, and particularly those structured as a prioritized hierarchy of tasks, enable complex behaviors with elegant properties of robustness and portability to be built. However, it is difficult to consider a straightforward integration of tasks described by unilateral constraints in such frameworks.
N Mansard, O Khatib, Abderrahmane Kheddar   +2 more
exaly   +3 more sources

Dynamics of Systems with Unilateral Differential Constraints

Doklady Mathematics, 2023
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Salnikova, T. V., Kugushev, E. I., Demidov, A. A.   +2 more
openaire   +1 more source

Synthesis of Stabilization Systems with Unilateral Control Constraints

Automation and Remote Control, 2021
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Anton V. Utkin, Victor A. Utkin
openaire   +2 more sources

Optimisation of Mechanisms with Collisions and Unilateral Constraints

Multibody System Dynamics, 1997
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Schulz, M., Mücke, R., Walser, H.-P.
openaire   +2 more sources

DYNAMICS OF MULTIBODY SYSTEMS WITH UNILATERAL CONSTRAINTS

International Journal of Bifurcation and Chaos, 1999
In couplings of machines and mechanisms, backlash and friction phenomena are always occurring. Whether stick–slip phenomena take place depends on the structure of such couplings. These processes can be modeled as multibody systems with a time-varying topology.
Wösle, M., Pfeiffer, F.
openaire   +1 more source

Singularities of manipulators with non-unilateral constraints

Robotica, 2005
An analytical method is presented to obtain all surfaces enveloping the workspace of a general n degree-of-freedom mechanism with non-unilateral constraints. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation method for serial kinematic chains or its modification for closed-loop kinematic chains.
Jingzhou Yang 0001, Karim Abdel-Malek
openaire   +1 more source

Grid solution of problem with unilateral constraints

Numerical Algorithms, 2016
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Ming Chau, Abdelhamid Laouar, Thierry Garcia, Pierre Spitéri   +3 more
openaire   +3 more sources

Optimal control of systems with unilateral constraints

Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002
Problems in robotics and biomechanics such as trajectory planning or resolution of redundancy can be effectively solved using optimal control. Such systems are often subject to unilateral constraints. Examples include tasks involving contacts (e.g., walking, running, multifingered or multiarm manipulation), and other tasks that may not involve contacts
Milos Zefran, Vijay Kumar 0001
openaire   +1 more source

Robots with Unilateral Constraints

IFAC Proceedings Volumes, 1997
Abstract A robot coming into any contact with its environment generates in the sense of mechanics some unilateral constraints, which - due to its unilaterality - might be dissolved again depending on the surrounding dynamics. The laws governing such situations must consider the typical complementary behavior of contacts which means, that either ...
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A theory of systems with unilateral constraints

Journal of Applied Mathematics and Mechanics, 1995
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Deryabin, M. V., Kozlov, V. V.
openaire   +1 more source