Now showing items 1-4 of 4
Geometric Phases, Anholonomy, and Optimal Movement
In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...
On the Dynamics of Floating Four-Bar Linkages. II. Bifurcations of Relative Equilibria
Continuing our program to understand the geometry and dynamics of floating four-bar linkages, we explore the relative equilibria of an assembly that admits symmetric configurations. We show that a symmetric configuration ...
On the Geometry and Dynamics of Floating Four-Bar Linkages
In this paper, we investigate the kinematics and dynamics of floating, planar four-bar linkages. The geometry of configuration space is analyzed through the classical theory of mechanisms due to Grashof. The techniques of ...
Optimal Control of a Rigid Body with Two Oscillators
This paper is concerned with the exploration of reduction and explicit solvability of optimal control problems on principal bundles with connections from a Hamiltonian point of view. The particular mechanical system we ...