Now showing items 1-10 of 16
DYNAMAN: A Tool for Manipulator Design and Analysis.
This report describes a method to formulate the dynamic equations of a robot manipulator with N links and with either revolute or prismatic joints using a Newton-Euler formulation. A general- purpose tool for analysis and ...
Relative Equilibria for Two Rigid Bodies.
For simple mechanical systems with symmetry, a variational principle on configuration space determines relative equilibria. Here, this principle of symmetric criticality is applied to a problem of coupled rigid bodies. ...
The Dynamics of Coupled Planar Rigid Bodies.
This paper studies the dynamics of coupled planar rigid bodies, concentrating on the case of two bodies coupled with a hinge joint. The Hamiltonian structure is non-canonical and is obtained using the methods of reduction, ...
Eulerian Many-Body Problems.
The hamiltonian dynamics of coupled structures is discussed. There are geometric parallels in earlier work on the Newtonian (gravitational) many-body problem. In the study of relative equilibria, a theorem due to Smale has ...
Neural Network Solutions to Problems in 'Early Taction'.
In this paper we examine the application of artificial neural networks to low level processing of tactile sensory data. In analogy to the term early msion, we call the first level of processing required in tactile sensing ...
The Second Synthetic Microstructures in Biological Research Conference.
Hamiltonian Structures and Stability for Rigid Bodies with Flexible Attachments.
The dynamics of a rigid body with flexible attachments is studied. A general framework for problems of this type is established in the context of Poisson manifolds and reduction. A simple model for a rigid body with an ...
The Dynamics of Two Coupled Rigid Bodies.
In this paper we derive a Poisson bracket on the phase space so(3)*x so(3)*x S0(3) such that the dynamics of two three- dimensional rigid bodies coupled by a ball and socket joint can be written as a Hamiltonian system.
The Hamiltonian Structure of Nonlinear Elasticity: The Convective Representation of Solids, Rods, and Plates.
ABSTRACT NOT AVAILABLE.
On the Dynamics of Floating Four-Bar Linkages.
The hamiltonian structure of floating, planar four-bar linkages is discussed. The geometry of configuration space is related to the classical theory of mechanisms due to Grashof. For generic value of kinematic parameters, ...