Now showing items 1-10 of 26
A Multibody Analog of Dual-Spin Problems
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 ...
Mechanical Systems with Partial Damping: Two Examples
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 ...
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 ...
An Improved Model for the Dynamics of Spur Gear Systems with Backlash Consideration
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 ...
Optimal Control and Poisson Reduction
In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.
Almost Poisson Integration of Rigid Body Systems
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 ...
G-Snakes: Nonholonomic Kinematic Chains on Lie Groups
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 ...
Steady Rigid-Body Motions in a Central Gravitational Field
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 ...
Comparative Study of Friction-Compensating Control Strategies for Servomechanisms
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 ...
Stabilization of Rigid Body Dynamics by Internal and External Torques
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 ...