Stochastic simulation of facies or geologic units is important before the assignment of continuous rock properties. Sequential indicator simulation (SIS) remains a reasonable approach when there are no clear genetic shapes that could be put into object-based modeling. Constraining SIS to soft secondary data coming from geological interpretation or geophysical measurements is important. There ar...

Title of Dissertation: A THREE DEGREE OF FREEDOM PARALLEL MANIPULATOR WITH ONLY TRANSLATIONAL DEGREES OF FREEDOM Richard Eugene Stamper, Doctor of Philosophy, 1997 Dissertation directed by: Professor Lung-Wen Tsai Department of Mechanical Engineering and Institute for Systems Research In this dissertation, a novel parallel manipulator is investigated. The manipulator has three degrees of freedo...

Given a general 3-RPR planar parallel robot with linear platforms, it is proven that there are no singularity-free paths between non-symmetrical direct kinematics solutions. We provide an alternative proof of this. also shows path two symmetrical solutions if appropriate condition satisfied. This will be automatically satisfied for exactly one pair four real to the kinematics. The topology kine...

ly, the derivation of the grasp kinematics is identical to thefixed contact case except that the grasp map and hand Jacobian dependon the instantaneous contact location, which in turn depends on ηi, thecontact coordinates for each finger. Thus, the contact kinematics havethe formJh(θ, xo, η)θ̇ = GT (η)V bpoη̇i = Ai(ηi)V bofi ,(5.40) where η = (η1, . . . , η...

This paper studies the motion control of a multi-arm freeflying space robot chasing a passive object in close proximity. Free-flyer kinematics are developed using a minimum set of body-fixed barycentric vectors. Using a general and a quasi-coordinate Lagrangian formulation, two dynamics models are derived. Control algorithms are developed that allow coordinated tracking control of the manipulat...

In this paper, we use principle of virtual work to obtain the direct dynamics analysis of a 3-RRP spherical parallel manipulator, also called spherical star-triangle (SST) manipulator (Enferadi et al., Robotica 27, 2009). This manipulator has good accuracy and relatively a large workspace which is free of singularities (Enferadi et al., Robotica, 2009). The direct kinematics problem of this man...

This paper presents a novel 3-DOF translational micromanipulating parallel manipulator with single type of linear driving and six passive joints. It is chiefly characterized by the constant Jacobian matrix between the input and output. It also has straightforward inverse and forward kinematics, which facilitate the implementation of real-time control. Aiming at the vibration control purpose for...

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visua...

We introduce CAT, a constraint-aware teleoperation method that can track continuously updating 6-DOF end-effector goals while avoiding environment collisions, self-collisions, and joint limits. Our method uses sequential quadratic programming to generate motion trajectories that obey kinematic constraints while attempting to reduce the distance to the goal with each step. Environment models are...

The handling of complex machines such as redundant manipulators requires appropriate control systems in order to make the operating of the system easier and to reduce processing time. This paper presents an advanced control system for a drilling rig used in tunnel construction which is currently under development in cooperation with an industrial partner. The drill rig is equipped with two redu...