相关论文: Analysis of kinematics of mechanisms containing re…
Why would anyone wish to generalize the already unappetizing subject of rigid body motion to an arbitrary number of dimensions? At first sight, the subject seems to be both repellent and superfluous. The author will try to argue that an…
We investigate systems of equations, involving parameters from the point of view of both control theory and computer algebra. The equations might involve linear operators such as partial (q-)differentiation, (q-)shift, (q-)difference as…
The essentially unique reduction of the Euler-Poinsot problem may be performed in different sets of variables. Action-angle variables are usually preferred because of their suitability for approaching perturbed rigid-body motion. But they…
Screw and Lie group theory allows for user-friendly modeling of multibody systems (MBS) while at the same they give rise to computationally efficient recursive algorithms. The inherent frame invariance of such formulations allows for use of…
The recursive Newton-Euler Algorithm (RNEA) is a popular technique for computing the dynamics of robots. RNEA can be framed as a differentiable computational graph, enabling the dynamics parameters of the robot to be learned from data via…
This paper applies the multibond graph approach for rigid multibody systems to model the dynamics of general spatial mechanisms. The commonly used quick return mechanism which comprises of revolute as well as prismatic joints has been…
New method of analysing the free and heavy symmetric tops using Euler's equations to perform extraction from the body frame to the lab frame. Subsequent to extraction, the lab frame equations are solved by space phasor method.
We present a method to compute the Euler characteristic of an algebraic subset of $\bc^n$. This method relies on clasical tools such as Gr\"obner basis and primary decomposition. The existence of this method allows us to define a new…
The motion of a rolling ball actuated by internal point masses that move inside the ball's frame of reference is considered. The equations of motion are derived by applying Euler-Poincar\'e's symmetry reduction method in concert with…
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and…
Just like the well-established Euler angles representation, fused angles are a convenient parameterisation for rotations in three-dimensional Euclidean space. They were developed in the context of balancing bodies, most specifically walking…
We propose three iterative methods for solving the Moser-Veselov equation, which arises in the discretization of the Euler-Arnold differential equations governing the motion of a generalized rigid body. We start by formulating the problem…
This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…
The classical Euler--Poinsot case of the rigid body dynamics admits a class of simple but non-trivial integrable generalizations, which modify the Poisson equations describing the motion of the body in space. These generalizations possess…
Euler angle representation in biomechanical analysis allows straightforward description of joints rotations. However, application of Euler angles could be limited due to singularity called gimbal lock. Quaternions offer an alternative way…
The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented code. The system of rigid parts is made of two slender bars…
In this paper we describe an efficient involutive algorithm for constructing Groebner bases of polynomial ideals. The algorithm is based on the concept of involutive monomial division which restricts the conventional division in a certain…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
A new algorithm for computing a point on a polynomial or rational curve in B\'{e}zier form is proposed. The method has a geometric interpretation and uses only convex combinations of control points. The new algorithm's computational…
Geometric modeling by constraints leads to large systems of algebraic equations. This paper studies bipartite graphs underlaid by systems of equations. It shows how these graphs make possible to polynomially decompose these systems into…