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Journal Articles

A Moving Horizon Estimation for a Class of Soft Continuum Manipulators

Guaraci Bastos, Jr.
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. August 2024, 19(8): 081004.
Paper No: CND-23-1177
https://doi.org/10.1115/1.4065670
Published Online: June 18, 2024
View Article titled, A Moving Horizon Estimation for a Class of Soft Continuum Manipulators
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Topics: Algorithms, Manipulators, Springs, Trajectories (Physics), Noise (Sound), Dynamics (Mechanics), Robustness, Dampers, Uncertainty, Optimization
Journal Articles

Neural Network-Based Region Tracking Control for a Flexible-Joint Robot Manipulator

Jinwei Yu, Mengyang Wu, Jinchen Ji, Weihua Yang
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. February 2024, 19(2): 021003.
Paper No: CND-23-1200
https://doi.org/10.1115/1.4064201
Published Online: December 20, 2023
View Article titled, Neural Network-Based Region Tracking Control for a Flexible-Joint Robot Manipulator
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Topics: Control equipment, Manipulators, Stability, Tracking control, Dynamics (Mechanics)
Journal Articles

Dynamic Modeling of the Ball-on-Flexible Beam Using Euler–Lagrangian Formulation

Du-Soon Choi, Seong Youb Chung, Ji-Chul Ryu
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. February 2024, 19(2): 021001.
Paper No: CND-23-1118
https://doi.org/10.1115/1.4064199
Published Online: December 20, 2023
View Article titled, Dynamic Modeling of the Ball-on-Flexible Beam Using Euler–Lagrangian Formulation
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Topics: Deflection, Dynamic modeling, Dynamic models, Finite element analysis, Manipulators, Rods, Euler-Bernoulli beam theory, Displacement, Dynamics (Mechanics), Deformation
Journal Articles

Design of a Reconfigurable Mobile Collaborative Manipulator for Industrial Applications

Alberto Baldassarri, Michele Bertelli, Marco Carricato
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2023, 18(9): 091006.
Paper No: CND-22-1179
https://doi.org/10.1115/1.4062595
Published Online: June 27, 2023
View Article titled, Design of a Reconfigurable Mobile Collaborative Manipulator for Industrial Applications
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Topics: Braking, Design, Hardware, Manipulators, Robots, Stability, Robotics, Safety, Cycles, Errors
Journal Articles

FSTSMC Compliance Control for Dual-Arm Space Robot With SDBD Capture Satellite Operation

An Zhu, Haiping Ai, Li Chen
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2023, 18(6): 061006.
Paper No: CND-23-1067
https://doi.org/10.1115/1.4062268
Published Online: April 17, 2023
View Article titled, FSTSMC Compliance Control for Dual-Arm Space Robot With SDBD Capture Satellite Operation
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Topics: Dampers, Polishing equipment, Robots, Satellites, Springs, Torque, Motors, Control equipment, Design, Manipulators
Journal Articles

Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems

Bálint Bodor, László Bencsik
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2023, 18(6): 061002.
Paper No: CND-22-1183
https://doi.org/10.1115/1.4056593
Published Online: April 6, 2023
View Article titled, Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems
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Topics: Approximation, Optimal control, Trajectories (Physics), Tracking control, Manipulators, Newton's method
Journal Articles

Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds

Edward J. Haug, Adrian Peidro
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. November 2022, 17(11): 111008.
Paper No: CND-22-1112
https://doi.org/10.1115/1.4055313
Published Online: September 19, 2022
View Article titled, Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
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Topics: Manifolds, Manipulators, Kinematics
Journal Articles

Manipulator Kinematics and Dynamics on Differentiable Manifolds: Part I Kinematics

Edward J. Haug
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. February 2022, 17(2): 021002.
Paper No: CND-21-1122
https://doi.org/10.1115/1.4052652
Published Online: November 22, 2021
View Article titled, Manipulator Kinematics and Dynamics on Differentiable Manifolds: Part I Kinematics
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Topics: Kinematics, Manifolds, Manipulators
Journal Articles

Manipulator Kinematics and Dynamics on Differentiable Manifolds: Part II Dynamics

Edward J. Haug
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. February 2022, 17(2): 021003.
Paper No: CND-21-1123
https://doi.org/10.1115/1.4052653
Published Online: November 22, 2021
View Article titled, Manipulator Kinematics and Dynamics on Differentiable Manifolds: Part II Dynamics
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Topics: Manipulators, Kinematics, Dynamics (Mechanics)
Journal Articles

Predictive Trajectory Tracking Algorithm of Underactuated Systems Based on the Calculus of Variations

Bálint Bodor, Ambrus Zelei, László Bencsik
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. August 2021, 16(8): 081002.
Paper No: CND-20-1140
https://doi.org/10.1115/1.4051168
Published Online: June 16, 2021
View Article titled, Predictive Trajectory Tracking Algorithm of Underactuated Systems Based on the Calculus of Variations
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Topics: Algorithms, Control equipment, Errors, Manipulators, Optimization, Simulation, Trajectories (Physics), Actuators, Dynamics (Mechanics), Equations of motion
Journal Articles

Nonlinear Partial Differential Equation Model-Based Coordination Control for a Master–Slave Two-Link Rigid–Flexible Manipulator With Vibration Repression

Fangfei Cao, Jinkun Liu
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. February 2021, 16(2): 021007.
Paper No: CND-20-1315
https://doi.org/10.1115/1.4049219
Published Online: December 18, 2020
View Article titled, Nonlinear Partial Differential Equation Model-Based Coordination Control for a Master–Slave Two-Link Rigid–Flexible Manipulator With Vibration Repression
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Topics: Control equipment, Deflection, Flexible manipulators, Manipulators, Partial differential equations, Vibration, Simulation
Journal Articles

Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations–Partial Differential Equations Model

Fangfei Cao, Jinkun Liu
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. September 2019, 14(9): 094501.
Paper No: CND-18-1466
https://doi.org/10.1115/1.4044012
Published Online: July 15, 2019
View Article titled, Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations–Partial Differential Equations Model
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Topics: Control equipment, Differential equations, Manipulators, Partial differential equations, Dynamic models, Design
Journal Articles

Output Feedback Fractional Integral Sliding Mode Control of Robotic Manipulators

Aldo Jonathan Muñoz-Vázquez, Fernando Martínez-Reyes
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. May 2019, 14(5): 054502.
Paper No: CND-18-1372
https://doi.org/10.1115/1.4043000
Published Online: March 14, 2019
View Article titled, Output Feedback Fractional Integral Sliding Mode Control of Robotic Manipulators
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Topics: Control equipment, Feedback, Manipulators, Simulation, Sliding mode control, Uncertainty, Robots, Design
Journal Articles

Errors Control of Constraint Violation in Dynamical Simulation for Constrained Mechanical Systems

Guizhi Lyu, Rong Liu
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. March 2019, 14(3): 031008.
Paper No: CND-18-1251
https://doi.org/10.1115/1.4042493
Published Online: January 30, 2019
View Article titled, Errors Control of Constraint Violation in Dynamical Simulation for Constrained Mechanical Systems
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Topics: Errors, Manipulators, Simulation, Kaolin
Journal Articles

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

Vo Anh Tuan, Hee-Jun Kang
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. March 2019, 14(3): 031002.
Paper No: CND-18-1101
https://doi.org/10.1115/1.4042293
Published Online: January 11, 2019
View Article titled, A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme
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Topics: Design, Errors, Manipulators, Sliding mode control, Uncertainty, Robots, Stability, Trajectories (Physics), Simulation, Robustness
Journal Articles

Reliable and Failure-Free Workspaces for Motion Planning Algorithms for Parallel Manipulators Under Geometrical Uncertainties

Hiparco L. Vieira, João V. C. Fontes, André T. Beck, Maíra M. da Silva
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. February 2019, 14(2): 021005.
Paper No: CND-18-1239
https://doi.org/10.1115/1.4042015
Published Online: January 7, 2019
View Article titled, Reliable and Failure-Free Workspaces for Motion Planning Algorithms for Parallel Manipulators Under Geometrical Uncertainties
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Topics: Failure, Manipulators, Probability, Path planning, Algorithms, Uncertainty
Journal Articles

Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty

Dongyang Sun
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2016, 11(5): 051024.
Paper No: CND-16-1036
https://doi.org/10.1115/1.4033609
Published Online: June 2, 2016
View Article titled, Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
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Topics: Clearances (Engineering), Errors, Flexible manipulators, Journal bearings, Manipulators, Trajectories (Physics), Uncertainty, Lubricants
Journal Articles

Dynamic Behavior of Flexible Multiple Links Captured Inside a Closed Space

A. M. Shafei, H. R. Shafei
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2016, 11(5): 051016.
Paper No: CND-15-1320
https://doi.org/10.1115/1.4032388
Published Online: February 25, 2016
View Article titled, Dynamic Behavior of Flexible Multiple Links Captured Inside a Closed Space
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Topics: Chain, Dynamics (Mechanics), Equations of motion, Flight, Inertia (Mechanics), Kinematics, Manipulators, Open kinematic chains, Simulation, Algebra
Journal Articles

Dexterity and Adaptive Control of Planar Parallel Manipulators With and Without Redundant Actuation

Weiwei Shang, Shuang Cong
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2015, 10(1): 011002.
Paper No: CND-12-1067
https://doi.org/10.1115/1.4027581
Published Online: September 12, 2014
View Article titled, Dexterity and Adaptive Control of Planar Parallel Manipulators With and Without Redundant Actuation
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Topics: Kinematics, Manipulators
Journal Articles

Control Constraint of Underactuated Aerospace Systems

Pierangelo Masarati, Marco Morandini, Alessandro Fumagalli
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. April 2014, 9(2): 021014.
Paper No: CND-12-1104
https://doi.org/10.1115/1.4025629
Published Online: January 9, 2014
View Article titled, Control Constraint of Underactuated Aerospace Systems
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Topics: Actuators, Aircraft, Dynamics (Mechanics), Feedforward control, Rotation, Trajectories (Physics), Aerospace systems, Feedback, Manipulators, Wind