Hybrid Dynamic Modeling And Control Of Constrained Manipulation Systems - IEEE Robotics & Automation Magazine

A unified geometric approach to modeling and control of constrained mechanical systems

Dynamic control of constrained mechanical systems, such as robotic manipulators under end-effector constraints, parallel manipulators, and multifingered robotic hands under closure constraints have been classic problems in robotics research. There have been numerous treatments on modeling, analysis, and control for each class of problem. In this paper, we provide a unified geometric framework f...

Hybrid dynamic modeling and control of constrained manipulation systems

Modeling and controllability for a class of hybrid mechanical systems

This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framework for modeling smooth phenomena such as inertial forces, holonomic, and nonholonomic constraints, as well as discrete features such as transitions between smooth dynamic regimes through plastic and elastic impacts. We focus on d...

Planar Molecular Dynamics Simulation of Au Clusters in Pushing Process

Based on the fact the manipulation of fine nanoclusters calls for more precise modeling, the aim of this paper is to conduct an atomistic investigation for interaction analysis of particle-substrate system for pushing and positioning purposes. In the present research, 2D molecular dynamics simulations have been used to investigate such behaviors. Performing the planar simulations can provide a ...

Dynamic analysis of mobility and graspability of general manipulation systems

We present a geometric approach to the dynamic analysis of manipulation systems of a rather general class, including some important types of manipulators as, e.g., cooperating, super-articulated, and whole-arm manipulators. The focus is in particular on simple industry-oriented devices, for which a minimalistic design approach requires a clear understanding of mobility and graspability properti...