This paper investigated the tracking control of nonholonomic mobile robots with uncertainties. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Barbalat theorem and Lyapunov techniques were exploited to craft a dynamic feedback robust controller that enables the mobile robot configuration tracking despite the lack o...

A computationally fast inverse kinematic scheme is derived which solves robot's end-effector (EE) trajectories in terms of joint trajectories. The inverse kinematic problem (IKP) is cast as a control problem for a simple dynamic system. The resulting closed-loop algorithms are shown to guarantee satisfactory tracking performance. Differently from previous first-order schemes which only solve fo...

conclusions zebris movement analysis system is a highly reliable instrument for the measurement of gait parameters at different speeds in healthy athletes and those after acl reconstruction surgery. this implies its use in the assessment and treatment process of gait deficits in such a clinically important population. background reconstruction surgery is one of the treatment methods after an an...

time–area method is one of the most widely applied techniques of watershed routing, and can be potentially used as a distributed model. in this paper, a fundamental flaw in the arrangement of subareas in the original time-area histogram is identified for one-dimensional flow. this is conducted on the basis of comparing time-area hydrograph with that of the kinematic wave theorem. accordingly, a...

We obtain explicit estimates on the stability of unique continuation for a linear system hyperbolic equations. In particular, our result applies to elasticity and also Maxwell system. As an application, we study kinematic inverse rupture problem determining jump in displacement friction force at surface, new features stable up surface.

A methodology to evaluate force capabilities of planar parallel manipulators is presented in this paper. Different from previous approach, kinematic redundancies are handled and proper used to improve force capabilities. Add to actuators wrench parameters normally present in a force optimization problem, kinematic redundancy introduces geometric parameters to be optimized, producing non-linear ...

Many mechanical systems can change dimension. r θ l k/2 k/2 y v u v m φ Body 2 1 m v v θ Rake x l θ We are primarily concerned with the problem of determining controllability and the motion planning problem. Slide 1 This motivational slide is intended to illustrate two main points: • Changing dimensions is common, and • There is a natural kinematic/dynamic dichotomy in such problems, which will...

In this paper, the rigid body guidance problem of general 6 degree of freedom manipulators is studied. A new method, called Distributed Optimization Method (DOM), is used to determine the dimensional parameters of general manipulators that are able to reach a nite number of given six degree of freedom position and orientation tasks. It is shown that the global multi-variable optimization proble...

In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual control specifications such as reachability and invariance as well as more complex specifications like sequencing and obstacle avoidance. Our approach consists of three basic steps. First, we design a control law th...