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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 ...

In this thesis we study the problem of modeling and control of vibrations of a flexible structure. Different approaches have been considered for fitting a finite dimensional model to the infinite dimensional system. In ...

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 ...

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 ...

Liapunov functions are constructed for nonlinear systems of ordinary differential equations whose linearized system at an equilibrium point possesses either a simple zero eigenvalue or a complex conjugate pair of simple, ...

In this paper, we consider the geometry of gyroscopic systems with symmetry, starting from an intrinsic Lagrangian viewpoint. We note that natural mechanical systems with exogenous forces can be transformed into gyroscopic ...

In this dissertation, we study the dynamics and control of coupled mechanical systems. A key feature of this work is the systematic use of modern geometric mechanics, including methods based on symplectic geometry, Lie ...

This dissertation is concerned with dynamic modeling and kinematic control of constrained mechanical systems with symmetry from a geometric point of view. Constraints are defined via the characteristics of distributions ...

The deeper investigation of problems of feedback stabilization and constructive controllability has drawn increased attention to the question of structuring control systems. Thus, for instance, it is interesting to know ...

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 ...