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In the field of spacecraft altitude control and stabilization, the dual-spin maneuver has an important place. Here, we consider a problem which is a multibody analog of the dual-spin problem. The dynamical equations are ...

We discuss the problem of constructing steady state motions of mechanical systems with partial damping. A planar three bar linkage with viscous damping at one of the joints is considered as an example. We show that for a ...

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 ...

An improved model which accounts for backlash effects is proposed for the dynamics of spur gear systems. This dynamic model is mainly developed for the purpose of real time control. The complicated variation of the meshing ...

In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.

In this paper we discuss the numerical integration of Lie-Poisson Systems using the mid-point rule. Since such systems result from the reduction of hamiltonian systems with symmetry by Lie Group actions, we also present ...

We consider kinematic chains evolving on a finite-dimensional Lie group G under nonholonomic constraints, where snake-like global motion is induced by shape variations of the system. In particular, we consider the case ...

In recent work, the exact dynamic equations for the motion of a finite rigid body in a central gravitational field were shown to be of Hamiltonian form with a noncanonical structure. In this paper, the notion of relative ...

This paper describes a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance for servomechanisms. Several control methods are considered ...

In this paper we discuss the stabilization of the rigid body dynamics by external torques (gas jets) and internal torques (momentum wheels). We compare the stabilizing quadratic quadratic feedback law for a single external ...