This paper presents a generic approach to analyze the singularity of robots with an articulated nacelle like the H4 robot. Using screw theory, the concept of equivalent twist graph is introduced in order to characterize the constraint wrenches and the actuation wrenches applied to the moving platform. Using Grassmann-Cayley Algebra, the geometric conditions associated with the dependency of six...

This paper presents a novel approach for grasp optimization considering contact position and object information uncertainties. In practice, it is hard to grasp an object at the designated or planned contact positions, as errors in measurement, estimation, and control usually exist. Therefore, we first formulate the influences of contact uncertainties on joint torques, contact wrenches, and fric...

Статья посвящена экономизации социальных отношений. Целью исследования является постановка проблемы и выявление причин проявления экономизации. В результате проведенной работы были определены характеристики, отражающие сущность экономизации: коммерциализированный характер отношений, трансформация смена ценностей у субъектов, проявление рыночных законов в социальной сфере. Автором сформированы в...

The paper addresses the problem of measuring whole-body dynamics for a multiple-branch kinematic chain in presence of unknown external wrenches. The main result of the paper is to give a methodology for computing whole body dynamics by aligning a model of the system dynamics with the measurements coming from the available sensors. Three primary sources of information are exploited: (1) embedded...

We study grasps of multiinger dexterous hands under the point contact model. Speciically, we are interested in high-quality force closure grasps. We abstract the problem into the space of force/torque wrenches where the quality is proportional to the magnitude of the largest wrench expressed as a non-negative combination of the grasp wrenches. This abstraction enables us to solve the problem by...