Automation of excavation work calls for a robotic system able to perform the planned digging work, and responsive to interaction forces experienced during excavation. The development of automated excavation control method requires a dynamic model to describe the evolution of the excavator motion with time. The joint torques of the boom mechanism are generated by hydraulic rams which also affect...

This thesis deals with the kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators. The inverse kinematics of each mechanism is first computed and a nengeneral algorithm is used to locate the boundaries of the workspace of the mechanism. Two approaches. narnely. the algebraic formulation and the vector formulati...

This paper presents an algorithm for estimating the dynamics parameters of an N degrees-of-freedom robotic manipulator. In our previous work [SI it was shown that the Newton-Euler model model which is nonlinear in the dynamic parameters can be transformed into an equivalent modif ied model which is linear in dynamic parameters. To introduce our identification algorithm, we cast this modif ied N...

Abstract— The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of non-linear control laws. Despite the popularity of the platform there are very few papers which employ the correct dynamics and only o...

The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of non-linear control laws. Despite the popularity of the platform there are very few papers which employ the correct dynamics and only one that de...

We present a parallel Newton-Krylov algorithm for solving the three-dimensional Euler equations on multi-block structured meshes. The Euler equations are discretized on each block independently using second-order accurate summation-by-parts operators and scalar numerical dissipation. Boundary conditions are imposed and block interfaces are coupled using simultaneous approximation terms (SATs). ...

In this study, dynamic behavior of a mooring line in a floating system is analyzed by probability approaches. In dynamics, most researches have shown the system model and environments by mathematical expression. We called this process as the forward dynamics. However, there is a limit to define the exact environments because of uncertainty. To consider uncertainty, we introduce the redundancy i...

In this article, control oriented uncertainty modeling of an uncommon quadrotor in hover is discussed. This consists two counter-rotating big rotors on longitudinal axis and small tilt lateral axis. Firstly, approximate linear model vehicle around obtained by using Newton--Euler formulation. Secondly, specific assigned to each parameter. Resulting uncertain converted into a fractional transform...

The Hamiltonian formalism for the continuous media is constructed using the representation of Euler variables in C 2 × ∞ phase space.