based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

‎Let $mathcal{A}$ be a unital Banach algebra‎, ‎$mathcal{M}$ be a left $mathcal{A}$-module‎, ‎and $W$ in $mathcal{Z}(mathcal{A})$ be a left separating point of $mathcal{M}$‎. ‎We show that if $mathcal{M}$ is a unital left $mathcal{A}$-module and $delta$ is a linear mapping from $mathcal{A}$ into $mathcal{M}$‎, ‎then the following four conditions are equivalent‎: ‎(i) $delta$ is a Jordan left de...

Let $R$ be a 2-torsion free ring and $U$ be a square closed Lie ideal of $R$. Suppose that $alpha, beta$ are automorphisms of $R$. An additive mapping $delta: R longrightarrow R$ is said to be a Jordan left $(alpha,beta)$-derivation of $R$ if $delta(x^2)=alpha(x)delta(x)+beta(x)delta(x)$ holds for all $xin R$. In this paper it is established that if $R$ admits an additive mapping $G : Rlongrigh...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...

(2012). A novel three degrees of freedom partially decoupled robot with linear SUMMARY In this work, a new translational robot formed with two different parallel manipulators with a common control point is introduced. An asymmetric parallel manipulator provides three translational degrees of freedom to the proposed robot while the orientation of the end-effector platform is kept constant by mea...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...