This paper proposes a new cooperative transportation control algorithm in consideration of not only the internal force but the external force applied to “Mobile Robot for a Wheel (MRWheel)”. First, we describe the merits and demerits of the model-based external force compensation method proposed in our previous study and explain the necessity of this new control algorithm. Secondly, we explain ...

A general computational model of the human lumbar spine and trunkmuscles including optimization formulations was provided. For a given condition, the trunk muscle forces could be predicted considering the human physiology including the follower load concept. The feasibility of the solution could be indirectly validated by comparing the compressive force, the shear force, and the joint moment. T...

Steering rods are subject to variety kinds of loads which will eventually cause failure. Automobile manufacturers and engineers are seeking ways to test the fatigue life of the steering rods. Steering rods under periodic loads over millions of cycles will get fatigued. We here provide a fatigue test bench for steering rods which applies periodic loads to the rod with a cam loading system. Cyclo...

Abstract This work deals with the stability problem of elastic composite cantilever beams subjected to a delayed, periodically changing follower force. The equation motion periodic system time delay is deduced based on some previous works. Composite and without delamination are considered, finite element method applied carry out spatial discretization structures. Besides, for delaminated case f...

The present paper deals with the dynamic behavior of nano-column subjected to follower force using the nonlocal elasticity theory. The nonlocal elasticity theory is used to analyze the mechanical behavior of nanoscale materials. The used method of solution is the Differential Quadrature Method (DQM). It is shown that the nonlocal effect plays an important role in the vibrational behavior of nan...

In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of pa...

This work consider the problem of flow control using incentive strategy in Stackelberg game theory. The network model employed here is that users route their flows from a common source to a common destination node, each of them trying to optimize its individual performance objective. First, the existing Stackelberg routing strategy is briefly introduced. And then, the linear Stackelberg incenti...

Aiming at the multiple robots formation control problem, this paper presents a solution for the paralyzed deadlock and decision conflict in the formation system. It introduces the randomized-generating function and variable repulsive force feedback control algorithm, combines the leader-follower and the artificial potential field approach and defines the distance, velocity vector and the virtua...