Holonomic functions play an essential role in Computer Algebra since they allow the application of many symbolic algorithms. Among all algorithmic attempts to find formulas for power series, holonomic property remains most important requirement be satisfied by function under consideration. The targeted mainly summarize that meromorphic functions. However, expressions like tan(z), z/(exp(z)-1), ...

Dynamics and control of mobile manipulators is obviously a more challenging problem compared to fixed-base robots. Including a suspension system for these mobile platforms increases their maneuverability, but considerably adds to their complexity. In this paper, a suspended wheeled mobile platform with two 6-DOF Puma-type manipulators is used to manipulate an object along a given path. To apply...

This paper presents a hybrid formation controller approach for non-holonomic mobile robots. This approach is based on the stable switching between a stable leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a significant increment on such errors. Exper...

We consider the problem of achieving a desired steady-state effect through periodic behavior for a class of control systems with and without drift. The problem of using periodic behavior to achieve set-point regulation for the control systems with drift is directly related to that of achieving unbounded effect for the corresponding driftless control systems. We prove that in both cases, the abi...

In this paper we explore the underlying principles of natural locomotion path generation of human beings. The knowledge of these principles is useful to implement biologically inspired path planning algorithms on a humanoid robot. By ‘locomotion path’ we denote the motion of the robot as a whole in the plane. The key to our approach is to formulate the path planning problem as an optimal contro...