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This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is…
Inspired by recent studies on deterministic oscillator models, we introduce a stochastic one-dimensional model for a chain of interacting particles. The model consists of $N$ oscillators performing continuous-time random walks on the…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…
The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval…
Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix…
This is a work in two parts in which we show how to solve a large class of Lindblad master equations for non-interacting particles on $L$ sites. In part I we concentrate on bosonic particles. We show how to reduce the problem to…
We consider a dipolar Bose-Einstein condensate trapped in an array of two-well systems with an arbitrary orientations of the dipoles relative to the system's axis. The system can be built as a chain of local traps sliced into two parallel…
Real world systems comprised of coupled oscillators have the ability to exhibit spontaneous synchronization and other complex behaviors. The interplay between the underlying network topology and the emergent dynamics remains a rich area of…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…
This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The…
We provide a complete classification of paradoxical closed-loop $n$-linkages, where $n\geq6$, of mobility $n-4$ or higher, containing revolute, prismatic or helical joints. We also explicitly write down strong necessary conditions for…
We discuss several classes of integrable Floquet systems, i.e. systems which do not exhibit chaotic behavior even under a time dependent perturbation. The first class is associated with finite-dimensional Lie groups and infinite-dimensional…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
In this paper we present the 1-loop perturbative computation of the renormalization constants and mixing coefficients of the lattice quark operators of rank three whose hadronic elements enter in the determination of the second moment of…
We present pretty detailed spectral analysis of Jacobi matrices with periodically modulated entries in the case when $0$ lies on the soft edge of the spectrum of the corresponding periodic Jacobi matrix. In particular, we show that the…
This paper is devoted to the study of some connections between coadjoint orbits in infinite dimensional Lie algebras, isospectral deformations and linearization of dynamical systems. We explain how results from deformation theory,…
Doubly occupied configuration interaction (DOCI), the exact diagonalization of the Hamiltonian in the paired (seniority zero) sector of the Hilbert space, is a combinatorial cost wave function that can be very efficiently approximated by…
We investigate the cooperative behavior of regular monolayers of driven two-level dipoles, using classical electrodynamics simulations. The dipolar response results from the interference of many cooperative eigenmodes, each…