Stability of a disturbance decoupled rigid body

Mass Properties Identification of a Rigid Body Using Modal Analysis

In performing vibration analysis of the car engine on the engine support, it is necessary to know the mass properties of the engine including mass, position of the center of mass and mass inertia moments. Because the car engine has a relatively complex geometric shape and is composed of different components with different densities, determining its mass properties faces many challenges. There a...

Lyapunov stability of a rigid body with two frictional contacts

Lyapunov stability of a mechanical system means that the dynamic response stays bounded in an arbitrarily small neighborhood of a static equilibrium configuration under small perturbations in positions and velocities. This type of stability is highly desired in robotic applications that involve multiple unilateral contacts. Nevertheless, Lyapunov stability analysis of such systems is extremely ...

A rigid body model and decoupled control architecture for two manipulators holding a complex object

Decoupled Trajectory Planning for a Submerged Rigid Body Subject to Dissipative and Potential Forces

This paper studies the practical but challenging problem of motion planning for a deeply submerged rigid body. Here, we formulate the dynamic equations of motion of a submerged rigid body under the architecture of differential geometric mechanics and include external dissipative and potential forces. The mechanical system is represented as a forced affine-connection control system on the config...

Second-Order Stability Cells of a Frictionless Rigid Body Grasped by Rigid Fingers

The most secure type of grasp of a frictionless woorkpiece is the form-closure grasp. However, task constraints may make achieving form-closure impossible or undesirable. In this case, one needs to employ a force-closure 1 grasp. In this paper, we study the subclass of force-closure grasps known as second-order stable grasps, which typically have a small number of contacts. We derive conditions...