IEEE Transactions on Robotics

Ieee Transactions on Robotics

Ieee Transactions on Robotics and Automation

We present a geometric approach to the dynamic analysis of manipulation systems of a rather general class, including some important types of manipulators, as e.g. cooperating, super{articulated, and whole{arm manipulators. The focus is in particular on simple industry{ oriented devices, for which a minimalistic design approach requires a clear understanding of mobility and graspability properti...

Ieee Transactions on Robotics and Automation ,

Ieee Transactions on Robotics and Automation ,

| This paper presents hybrid control schemes which are used for practical stabilization of a diierentially driven mobile robot. The control schemes are shown to have desirable characteristics for a regulation scheme, i.e., have gains which are easy to tune, correspond to the physical geometry, and address the eeects of sensor noise. By taking into account the geometry and dynamics of the proble...

2 Ieee Transactions on Robotics and Automation

| Queueing networks with fork/join mechanisms and nite-capacity buuers are of interest because they are suited to modeling and evaluating the performance of a large class of discrete event systems such as manufacturing systems (e.g., manufacturing ow lines, assembly lines, kan-ban controlled manufacturing systems). In a recent paper, Dallery, Liu and Towsley 14] considered a special class of qu...