Browsing by Author "Sreenath, N."
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Item DYNAMAN: A Tool for Manipulator Design and Analysis.(1985) Sreenath, N.; Krishnaprasad, Perinkulam S.; ISRThis 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 design of robot manipulators and related control problems is being developed in the form of a software package DYNAMAN using this method.Item The Dynamics of Coupled Planar Rigid Bodies, Part II: Bifurcations, Periodic Solutions, and Chaos.(1988) Oh, Y.G.; Sreenath, N.; Krishnaprasad, Perinkulam S.; Marsden, Jerrold E.; ISRPart I of this paper, namely Sreenath, Oh, Krishnaprasad, and Marsden [1987], hereafter denoted [I], studied the Hamiltonian structure and equilibria for interconnected planar rigid bodies, with the primary focus being on the case of three bodies coupled with hinge joints. The Hamiltonian structure was obtained by the reduction technique, starting with the canonical Hamiltonian structure in material representation and then quotienting by the group of Euclidean motions.Item The Dynamics of Coupled Planar Rigid Bodies.(1986) Sreenath, N.; Krishnaprasad, Perinkulam S.; Marsden, Jerrold E.; ISRThis 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, starting from canonical brackets on the cotangent bundle of the configuration space in material representation. The dynamics on the reduced space occurs on cylinders in R^3; stability of the equilibria is studied using the Energy - Casimir method and is confirmed numerically. The phase space contains a homoclinic orbit which will produce chaotic solutions when the system is perturbed.Item Modeling and Control of Multibody Systems(1987) Sreenath, N.; Krishnaprasad, P.S.; ISRDynamics of a system of many bodies in space is formulated in a Hamiltonian setting. Typically there are symmetry groups associated to such problems, and one can reduce the phase space by these symmetry groups. Dynamics in the reduced phase space is determined by appropriate Poisson structure. Equilibria for specific cases are obtained and their stability examined using energy-Casimir method. Nonlinear control techniques including exact linearization are applied successfully. A global controllability theorem is proved and feedback stabilization is studied. Applications to robotics and and multibody systems in space are discussed. Symbolic computational tools were used extensively in the research. OOPSS- an Object Oriented Planar System Simulator package has been developed to automatically generate, analyze, simulate and graphically display the dynamics of planar multibody systems.Item Modeling and Control of Multibody Systems.(1987) Sreenath, N.; ISRDynamics of a system of many bodies in space is formulated in a Hamiltonian setting. Typically there are symmetry groups associated to such problems, and one can reduce the phase space by these symmetry groups. Dynamics in the reduced phase space is determined by appropriate Poisson structure. Equilibria for specific cases are obtained and their stability examined using energy-Casimir method. Nonlinear control techniques including exact linearization are applied successfully. A global controllability theorem is proved and feedback stabilization is studied. Applications to robotics and multibody systems in space are discussed. Symbolic computational toolo were used extensively in the research. OOPSS - an Object Oriented Planar Syatem Simulator package has been developed to automatically generate, analyze, simulate and graphically display the dynamics of planar multibody systems.Item Multibody Simulation in an Object Oriented Programming Environment.(1988) Sreenath, N.; Krishnaprasad, Perinkulam S.; ISRA multibody system simulation architecture capable of generating the dynamical equations of the multibody system symbolically, automatically create the computer code to simulate these equations numerically, run the simulation and graphically display the results is discussed. The power of object oriented programming is used systematically to manipulate the symbolic, numeric and graphic modules and produce an effective tool for understanding the complicated motions of multibody systems. The architecture has been implemented for planar two and three body systems in OOPSS (Object Oriented Planar System Simulator) a software package written in Zeta-Lisp. The package is supported by a nice user interface which has the capability to interactively modify system parameters, change runtime initial conditions and introduce feedback control. Plans are underway to implement the architecture for complex multibody systems.