In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

Based on Navier-Stokes equations and structural and flight dynamic equations of motion, dynamic responses in vertical discrete gust flow perturbation are investigated for a supersonic transport model. A tightly coupled method was developed by the subiteration between aerodynamic equations and dynamic equations of motion. First, under the assumption of rigid-body and single freedom of motion in ...

Various dynamic equations have been used extensively in modeling many important natural phenomena, such as the population or epidemic growth with unpredictable jump sizes, motion control of impulsive robot movements, and prediction of irregular option markets. Since dynamic derivatives are basic building blocks of most dynamic equations, it has been crucial to approximate the derivatives to yie...

This paper analyzes the current use of artificial states in modeling practice and proposes a new form of equations for the purpose of modeling dynamic systems. These balance dynamics equations are used to formulate dynamic processes that help to find the solution of nonlinear systems of equations.

The simultaneous dynamic equations for substrate and biomass mass were used to assess the UASB reactor performance of municipal wastewater. The dynamic model equations were solved by using a m.file in MATLAB2011a command window and dynamic equations for substrate and biomass. The objectives of this paper are (1) To develop a simple CSTR model for simulation of UASB reactors performance assuming...

The oscillation behavior of solutions for higher-order delay dynamic equations of neutral type is investigated by making use of comparison with second-order dynamic equations. The method can be utilized to study other types of higher-order equations on time scales as well.

this paper deals with the dynamic analysis of stress field in cylindrically layeredstructures reinforced by carbon nanotube (clsrcn) subjected to mechanical shock loading.application of meshless local integral equations based on meshless local petrov-galerkin(mlpg) method is developed for dynamic stress analysis in this article. analysis is carriedout in frequency domain by applying the laplace...

On the one hand, periodic boundary value problems PBVPs for short for differential equations and difference equations have received much attention in the literature. See, for example, 1–17 and references therein. On the other hand, recently, the study of dynamic equations on time scales has became a new important branch see, e.g., 18–22 . Naturally, some authors have focused their attention on ...