In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...

In this paper, three issues related to three-dimensional multilink rigid body systems are considered: dynamics, actuation, and inversion. Based on the Newton-Euler equations, a state space formulation of the dynamics is discussed that renders itself to inclusion of actuators, and allows systematic ways of stabilization and construction of inverse systems. The development here is relevant to rob...

We perform a systematic multiscale analysis for the 2-D incompressible Euler equation with rapidly oscillating initial data using a Lagrangian approach. The Lagrangian formulation enables us to capture the propagation of the multiscale solution in a natural way. By making an appropriate multiscale expansion in the vorticity-stream function formulation, we derive a well-posed homogenized equatio...

We are interested in blimps. A blimp is a small airship that has no metal framework and collapses when deflated. In this paper, dynamic modeling of autonomous blimps is presented, using the Newton-Euler approach. This study discusses the motion in 6 degrees of freedom since 6 independent coordinates are necessary to determine the position and orientation of this vehicle. Key-words : Autonomous ...

Physical realism plays an important role in the way character animations are being perceived. We present a method for evaluating the physical realism of character animations, by using musculoskeletal model simulation resulting from biomechanics research. We describe how such models can be used without the presence of external force measurements. We define two quality measures that describe prin...

— Dans cet article, nous proposons une méthode pour le calcul des modèles dynamiques inverse et direct de l'Orthoglide, un robot parallèle à trois degrés de liberté en translation. Ces modèles sont calculés à partir des éléments du modèle dynamique de la structure d'une chaîne cinématique et des équations de Newton-Euler appliquées à la plate-forme. Ces modèles sont obtenus sous forme explicite...

where a, b, c are rational parameters. By specialization of the parameters, Euler obtained the various classical functions that were around at that time. For example, taking b = c = 1 gives us Newton’s binomial series for (1 − z)−a and taking a = b = 1/2, c = 3/2 gives us arcsin(√z)/√z. Finally, taking all parameters equal to 1 recovers the ordinary geometric series, which more or less explains...

This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day. Equations and algorithms are given for the most important dynamics computations, expressed in a common notation to facilitate their presentation and comparison.