... 2011 02 12 2011 mobile robots motion control position control robot dynamics wheels Mecanum wheel kinematics and dynamics modeling The Mecanum or Ilon wheel was patented in 1973 [( 1 )]. The design was used on utility vehicles such as forklifts and material handling...

... aspects of harmonic drive behavior—nonlinear viscous friction, nonlinear stiffness, hysteresis, and kinematic error—are all included in the model. The harmonic drive is taken to be a black box, and a dynamometer is used to observe the input/output relations of the transmission. This phenomenological...

... to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. In this paper, not only do we formally prove the robustness of the second control strategy but we also show its successful implementation. 19 03 2009 26 10 2010 22 02...

... rate. This paper analyzes the kinematics of a pump based on its geometry dependent characteristics. The analysis assumes an idealized case in which there is no oil leakage and the fluid is considered to be incompressible. It is revealed through the analysis that the piston displacement and the pump...

... that the acceleration of reference point B can only be determined if A P has full rank, namely, if 13 rank { A P } = 3 However, this condition is not sufficient, since the rotational kinematic parameters ω ̇ and ξ can hide some or all of the effects of b...

...Jingyan Dong; Srinivasa M. Salapaka; Placid M. Ferreira This paper presents the design, model identification, and control of a parallel-kinematic X Y Z nanopositioning stage for general nanomanipulation and nanomanufacturing applications. The stage has a low degree-of-freedom monolithic parallel...

...Ravishankar Shivarama; Eric P. Fahrenthold A combination of Euler parameter kinematics and Hamiltonian mechanics provides a rigid body dynamics model well suited for use in strongly nonlinear problems involving arbitrarily large rotations. The model is unconstrained, free of singularities, includes...

.... , and Skibniewski , M. J. , 1993 , “ Dynamic Model of Excavator ,” J. Aerospace Eng. , 6 ( 2 ), pp. 148 – 158 . Koivo, A. J., Ramos, M. C., and Thoma, M., 1994, “Dynamic Model for Excavators (and Backhoe),” IFAC Symposium on Robot Control, pp. 763–768. Koivo , A. J. , 1994 , “ Kinematics...

...Peter Ridley; Peter Corke This paper examines the kinematics and control of a Load Haul Dump Vehicle used in underground mining operations. The aim of the work is to develop an autonomous guidance strategy. A linear, state-space, mathematical model of the vehicle is derived purely from geometric...

..., 2000. Associate Technical Editors: E. Misawa and V. Utkin. 04 February 2000 missile guidance navigation nonlinear control systems variable structure systems control system synthesis robust control kinematics In recent years, the study of the design of guidance law...

... OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL . Manuscript received by the Dynamic Systems and Control Division Jan. 4, 2000. Associate Editor: F. Conrad. 04 Jan 2000 pumps valves compressibility kinematics Swash-plate type axial-piston pumps are used as the fluid power-source...

... by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL . Manuscript received by the Dynamic Systems and Control Division January 30, 1998. Associate Editor: G. Rizzoni. 30 January 1998 dynamics kinematics internal combustion...