This paper extends the Operational Space Formulation to the important class of serial-to-parallel chain (branching) manipulators. The various models and concepts developed in operational space, such as Dynamically Consistent Force/Torque Decomposition for control of redundant manipulators and the Augmented Object Model for cooperative manipulator systems, are shown to extend directly. Dynamic m...

The one-step model for chemistry has a successful history in providing a paradigm for describing many kinds of flame structure. If the activation energy is considered to be a large parameter, then an asymptotic picture emerges that is often simple enough to provide explicit solutions which describe such phenomena as structure, stability, ignition, and extinction. Qualitatively correct descripti...