Related papers: Prioritized Inverse Kinematics: Nonsmoothness, Tra…
A prioritized inverse kinematics (PIK) solution can be considered as a (regulation or output tracking) control law of a dynamical system with prioritized multiple outputs. We propose a method that guarantees that a joint trajectory…
Poly-PL kinetic systems (PYK) are kinetic systems consisting of nonnegative linear combinations of power law functions. In this contribution, we analyze these kinetic systems using two main approaches: (1) we define a canonical power law…
Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary strengths and weaknesses, but developing a unified approach to…
This paper proposes a novel inverse kinematics (IK) solver of articulated robotic systems for path planning. IK is a traditional but essential problem for robot manipulation. Recently, data-driven methods have been proposed to quickly solve…
We present a stability theory for kink propagation in chains of coupled oscillators and a new algorithm for the numerical study of kink dynamics. The numerical solutions are computed using an equivalent integral equation instead of a system…
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under complex constraints. We present IKSPARK (Inverse Kinematics using…
Dynamical systems governed by priority rules appear in the modeling of emergency organizations and road traffic. These systems can be modeled by piecewise linear time-delay dynamics, specifically using Petri nets with priority rules. A…
We consider the scalar conservation law in one space dimension with a genuinely nonlinear flux. We assume that an appropriate velocity function depending on the entropy solution of the conservation law is given for the comprising particles,…
Turnpike properties have been established long time ago in finite-dimensional optimal control problems arising in econometry. They refer to the fact that, under quite general assumptions, the optimal solutions of a given optimal control…
The problem of finite-dimensional asymptotics of infinite-dimensional dynamic systems is studied. A non-linear kinetic system with conservation of supports for distributions has generically finite-dimensional asymptotics. Such systems are…
Existing smart composite piezoelectric beam models in the literature mostly ignore the electro-magnetic interactions and adopt the linear elasticity theory. However, these interactions substantially change the controllability and…
Continuous-time projected dynamical systems are an elementary class of discontinuous dynamical systems with trajectories that remain in a feasible domain by means of projecting outward-pointing vector fields. They are essential when…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
Determination of stability and instability of singular points in nonlinear dynamical systems is an important issue that has attracted considerable attention in different fields of engineering and science. So far, different well-defined…
Linear complementarity problems provide a powerful framework to model nonsmooth phenomena in a variety of real-world applications. In dynamical control systems, they appear coupled to a linear input-output system in the form of linear…
Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of…
Near kinematic singularities of a serial manipulator, the inverse kinematics (IK) problem becomes ill-conditioned, which poses computational problems for the numerical solution. Computational methods to tackle this issue are based on…
As is well-known, the classical PID control plays a dominating role in various control loops of industrial processes. However, a theory that can explain the rationale why the linear PID can successfully deal with the ubiquitous uncertain…
In this paper, we study a class of generalized inverse mixed variational inequality problems (GIMVIPs). We propose a novel projection-based second-order time-varying dynamical system for solving GIMVIPs. Under the assumptions that the…