Sensing the deformation of soft sensor elastomer can realize flexible operation robot and enhance perception human-computer interaction. The structural configuration its elastic force transfer path are crucial for decoupling sensing studying performance three-dimensional sensor. In this article, we present a theoretical method with decoupling-sensing. First, constraint types parallel manipulato...

there are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. in this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both newton-euler and lagrange-euler methods. the presented models are simulated for a mitsubishi pa10-6ce robotic manipulator characteristics mounte...

This article presents a novel optimal constraint-following controller for uncertain mechanical systems (MSs). The MS's uncertainty is unknown (possibly time-varying) and bounded, but the bound unspecified. Employing frame of Udwadia–Kalaba theory, we design robust with two tunable control gains MSs, which guarantees some deterministic performances. Assuming constraints to be holonomic periodic,...

This paper discusses an approach to representing and reasoning about constraints over strings. We discuss how many string domains can often be concisely represented using regular languages, and how constraints over strings, and domain operations on sets of strings, can be carried out using this representation.

We introduce a general framework for constraint solving where classical CSPs, fuzzy CSPs, weighted CSPs, partial constraint satisfaction, and others can be easily cast. The framework is based on a semiring structure, where the set of the semiring specifies the values to be associated to each tuple of values of the variable domain, and the two semiring operations (+ and x) model constraint proje...

Tensegrity mechanisms (TM) are well-appraised for their compliance and lightweight, making design theory a hot research topic recently. However, due to unconstrained DOFs, the analysis of TMs generally more complicated than traditional composed rigid links joints. A compact 3-DOF tensegrity manipulator is introduced an advanced two-step kinematic modeling method proposed in this paper. This fir...