CDC
2009
IEEE
13 years 9 months ago
2009
IEEE
Abstract-- This paper is concerned with the theory of quasivelocities and its applications to control. The equations of motion of a mechanical system are derived using the Lagrange
TROB
2002
13 years 11 months ago
2002
Dynamic control of constrained mechanical systems, such as robotic manipulators under end-effector constraints, parallel manipulators, and multifingered robotic hands under closure...
AUTOMATICA
2007
13 years 11 months ago
2007
This paper investigates the effects of undercompensation and overcompensation of friction in PD controlled 1DOF mechanical systems. The friction force that is acting on the mechan...
IROS
2007
IEEE
14 years 5 months ago
2007
IEEE
— Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mecha...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property o...