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On the Redundant-Drive Backlash-Free Robotic Mechanisms
(1990)
In this paper, we introduce a new and innovative concept for the control of backlash in gear-coupled robotic mechanisms. The concept utilizes redundant unidirectional drives to assure positive coupling of gear meshes at ...
A Multibody Analog of Dual-Spin Problems
(1990)
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 ...
Kinematic Synthesis of Bevel-Gear-Type Robotic Wrist Mechanisms
(1990)
Bevel-gear-type robotic wrist mechanisms are commonly used in industry. The reasons for their popularity are that they are compact, light-weight, and relatively inexpensive. However, there are singularities in their ...
Optimal Path-Finding Algorithm for Mobile Robotics Devices
(1990)
Objective: Robotic technology is being developed to increase productivity and alleviate wasted time. The trajectories of motion which these robots operate on are determined by matrix algorithms within the controller of the ...
User's Guide for FSQP Version 2.0 A Fortran Code for Solving Optimization Problems, Possibly Minimax, with General Inequality Constraints and Linear Equality Constraints, Generating Feasible Iterates
(1990)
FSQP 2.0 is a set of Fortran subroutines for the minimization of the maximum of a set of smooth objective functions (possibly a single one) subject to nonlinear smooth inequality constraints, linear inequality and linear ...
Iteractive Graphics and Dynamical Simulation in a Distributed Processing Environment
(1990)
An implementation of a distributed dynamical simulation is presented. Issues concerning real time simulation are discussed. Three dimensional, animated, object oriented graphics software is presented with problems and ...
Stabilization of Rigid Body Dynamics by Internal and External Torques
(1990)
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 ...
The Generalized Principle of Inertia Match for Geared Robotic Mechanisms
(1990)
In this paper, the principle of inertia match has been extended from one degree-of-freedom system to multi-degree-of-freedom systems. Based on the concept of maximum acceleration capacity, we have developed a methodology ...
The Workspace of Three-Degree-of-Freedom, Four-Jointed Spherical Wrist Mechanisms
(1990)
In this paper, orientational workspace of three-degree-of- freedom, four-jointed spherical wrist mechanisms have been investigated. We have derived the workspace boundary equations via both geometric consideration and ...
Bifurcation Control of Nonlinear Systems
(1990)
Bifurcation control is discussed in the context of the stabilization of high angle-of-attach flight dynamics. Two classes of stabilization problems for which bifurcation control is useful are discussed. In the first class, ...