• Non-linear dynamics modelling description for simulating the behaviour of forestry cranes 2014 • Modeling an industrial flotation process: A case study at the mining company Boliden AB 2012 • Modeling dynamics of an electro-hydraulic servo actuated manipulator: A case study of a forestry forwarder crane 2012 • Underactuated mechanical systems: Contributions to trajectory planning, analysis, a...

This paper aims to propose an underactuated model of walking in bipeds in order to make a comparison with a biomechanical analysis. This study begins explaining some relevant concepts of underactuated mechanisms, and it shows some advances in this field. Then, a human body model and a simulation frame are created in a dynamic environment like SimMechanics from Matlab for performing bipedal gait...

This paper presents a coupled and directly self-adaptive underactuated (CDSA) grasp mode, which has hybrid functions: coupled grasp and directly self-adaptive grasp. A novel multipulley-belt ̄nger mechanism with springs is designed based on CDSA grasp mode. Compared with traditional coupled underactuated ̄ngers or directly self-adaptive underactuated ̄ngers, the grasp process of the new ̄nger is mo...

This paper proposes an adaptive control method for an underactuated overhead crane system. To improve the transferring efficiency and enhance the security of the crane system, the trolley is required to reach the desired position as fast as possible, while the swing of payload needs to be within an acceptable domain. To achieve these objectives, a novel twostep design strategy consisting of a t...

This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions—the needle variations of optimal control—as the basis for choosing each control response to the current state. A second result of the paper is that the method provably exploits the nonlinear controllability of a system by virtue of an explicit dependence of the second-order need...

Underactuated manipulators have some passive joints in general, where the number of inputs is less than degrees freedom. These systems complex properties structure and they to control a lot generalized coordinates by few inputs. Here we use MATLAB/Simulink that software for numerical calculation. It designed controllers underactuated manipulators. In this paper, try constitute Real-Time environ...

This chapter focuses on the mobility analysis of spatial parallel manipulators. It first develops an analytical methodology to investigate the instantaneous degree of freedom (DOF) of the end-effector of a parallel manipulator. And then, the instantaneous controllability of the end-effector is discussed from the viewpoint of the possible actuation schemes which will be especially useful for the...

Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in underactuated bipedal robots. Two fundamental tools are introduced, virtual constraints and hybrid zero dynamics. Virtual constraints are relations on the state variabl...

The Controlled Lagrangian method is a branch of energy shaping methods that is designed to control underactuated mechanical systems. The method emp...

Improvement of orientation control laws for an underactuated satellite, is attemted using a nonlinear optimal control algorithm derived by Beard, et al. 1. A control law for an underactuated satellite would be used when the spacecraft is damaged during it's mission. Because of the immense cost in accessing space, recovery and repair is uncommon. Also, for this reason, it is necessary to maximiz...