Abstract Linkages able to change their finite degree of freedom due geometric constraints are commonly known as kinematotropic linkages. Although a considerable number examples such linkages can be found in the literature, amount reported parallel manipulators remains small. Even more rare publications presenting systematic methods for design manipulators. Hence, this paper, method is introduce...

We present a novel method for learning and tracking the pose of an articulated body by observing only its volumetric reconstruction. We propose a probabilistic technique that utilizes a multi-component Gaussian mixture model to describe the spatial distribution of voxels in a voxel image. Each component describes a segment or rigid body, and the collection of components are kinematically constr...

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

Magnetic liquid double suspension bearing (MLDSB) is composed of an electromagnetic system and hydrostatic its capacity stiffness can be greatly improved. It very suitable for occasions medium speed, heavy load, starting frequently. Due to the gyroscopic effect interference between supporting system, space state rotor affected operation stability MLDSB reduced greatly. Therefore, coupling featu...

In this paper we present a kinematic method for 6-degree-of-freedom manipulation of rigid objects using a dextrous robotic hand. Our method does not require prior models of the objects to be manipulated; all the information needed can be obtained directly from the hand's sensors. The method allows arbitrary (within the robot's physical limits) translations and rotations of the object, and its l...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical inf...

This study aims to develop and evaluate vibration-based piezoelectric energy harvesters for generating power from a bridge structure. New designs of multiple-degree-of-freedom (DOF) cantilevers were proposed evaluated in laboratory on full-scale bridge. It was found that all cantilever showed potential 35 V voltage outputs under simple sinusoidal vibration scenario the laboratory. Field testing...