Abstract This paper addresses the noncooperative attitude tracking control problem for rigid bodies whose dynamics evolves on rotation matrix . First, based relative measurement, a saturated angular velocity input is designed by proposed nonlinear function. Thereafter, torque body's with saturation constraint and active disturbance rejection developed modified dynamic surface approach which can...

Contact processing, including collision detection and contact response, is one of the most difficult, but most important areas in the simulation of the multi-body systems. However, the most widespread multi-body simulators, like Matlab/SimMechanics, don’t support the contact processing. Other multi-body simulators, like Vortex or ODE, support the contact processing, but are more limited in the ...

The aim of the present study was to the analysis of handstand movement in gymnastics by developing the dynamic model. One elite gymnast participated in this study.Seventeenspherical reflective markers were placed on the anatomical landmark of the body to represent the segments. The high-speed video based system was equipped with two cameras.Customized body segment inertia parameters were genera...

Available online ?? Robotic quadrupeds which can function as transportation machines present many advantages due to their high mobility and ability to traverse rugged terrain as opposed to conventional wheeled robots. However the high degrees of freedom and large number of actuators associated greatly increase their energy expenditure. This problem can be overcome by exploiting the natural or p...

This paper examines the problem of realizing a 6-DOF motion platform by proposing a closed loop kinematic architecture that benefits from an anthropological serial manipulator design. In contrast to standard motion platforms based on linear actuators, a mechanism with actuator design inspired from anthropological kinematic structure offers a relatively larger motion envelope and higher dexterit...

The present study is based on motion control of an articulated model of a human index finger that has been modeled as a four-degree-of-freedom serial robotic manipulator. Preliminary studies on position and tracking control have been carried out by testing various control strategies based on proportional-derivative (PD) control in a simulation environment wherein the manipulator has been modele...

Humanoid biped robots are typically complex in design, having numerous Degrees‐of‐Freedom (DOF) due to the ambitious goal of mimicking the human gait. The paper proposes a new architecture for a biped robot with seven DOF per each leg and one DOF corresponding to the toe joint. Furthermore, this work presents close equations for the forward and inverse kinematics by divid...

This paper represents a systematic way for generation of Aaria, a simulated model for serial manipulators for the purpose of kinematic or dynamic analysis with a vast variety of structures based on Simulink SimMechanics. The proposed model can receive configuration parameters, for instance in accordance with modified Denavit-Hartenberg convention, or trajectories for its base or joints for stru...