This paper presents a time invariant kinematic motion controller for wheeled mobile robots. Actuator capability, mechanical design, and traction forces governed by terrain features provide velocity and curvature limitations that are used in the design of the controller. A novel path manifold that considers curvature limitations is introduced to provide a desired path shape and convergence to th...

Abstract The nonlinear Maxwell Lagrangian preserving both conformal and SO(2) duality-rotation invariance has been introduced very recently. Here, in the context of Einstein’s theory gravity minimally coupled with this electrodynamics, we obtain a black hole solution which is Reissner–Nordström one additional parameter that coming from theory. We employ causality unitarity principles to identif...

Finding the full load motion for a point-to-point task can maximize the productivity and economic usage of the mobile manipulators. The presented paper proposes a technique to determine the maximum allowable dynamic payload for flexible mobile manipulators along with the obtained optimal trajectories. Non-linear modeling of the mobile robotic manipulators by considering both link and joint flex...

Exact definition of basic concepts and terms is of paramount importance to the question of maximal allowable concentrations of toxic substances in industrial atmospheres. The differences existing in various countries are often due to differences in the interpretation of basic concepts. Mutual agreement on the question of basic concepts will facilitate a rapprochement of points of view, and, per...

In this paper, a general formula for nding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear exible link manipulators is presented. The dynamic model for links in most mechanisms is often based on the small de ection theory but for applications like lightweight links, high-precision elements or high speed it is necessary to capture the de ection caused by nonlinear terms. Fir...