Read e-book online IUTAM Symposium on Dynamics Modeling and Interaction Control PDF

By László L. Kovács, Ambrus Zelei, László Bencsik, Gábor Stépán (auth.), Gábor Stépán, László L. Kovács, András Tóth (eds.)

ISBN-10: 9400716427

ISBN-13: 9789400716421

This quantity comprises the invited papers awarded on the IUTAM Symposium on Multibody Dynamics and interplay keep watch over in digital and genuine Environments held in Budapest, Hungary, June 7−11 2010.

The symposium aimed to compile experts within the fields of multibody method modeling, contact/collision mechanics and keep an eye on of mechanical platforms. The provided subject matters incorporated modeling points, mechanical and mathematical versions, the query of neglections and simplifications, aid of enormous platforms, interplay with surroundings like air, water and hindrances, touch of every kind, keep an eye on techniques, regulate balance and optimization.

Discussions among specialists in those fields made it attainable to switch rules concerning the fresh advances in multibody process modeling and interplay regulate, in addition to in regards to the attainable destiny developments. The shows of modern medical effects might facilitate the interplay among clinical parts like system/control engineering and mechanical engineering.

Papers on dynamics modeling and interplay keep an eye on have been chosen to hide the most parts: mathematical modeling, dynamic research, friction modeling, sturdy and thermomechanical facets, and functions.

A major final result of the assembly used to be the hole in the direction of purposes which are of key value to the way forward for nonlinear dynamics.

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Read or Download IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments: Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, Held in Budapest, Hungary, June 7–11, 2010 PDF

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Additional resources for IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments: Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, Held in Budapest, Hungary, June 7–11, 2010

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From more mathematical points of view, see [4]. 5 Trajectory Planning Let us consider the trajectory planning of the end effector from the initial point A to the target point B in Q with the base body attitude control by computing geometric phases. 960), each of which may be obtained consistently with equations (1) and (7). In the subspace R2 , given an underlying trajectory of the end effector (x3 (t), y3 (t)) from A = π3 (A) = (10, 0) to B = π3 (B) = (0, 5) as in Fig. 3, it inevitably causes some deviation Δ θ1 of the base attitude angle θ1 due to the geometric phase.

Int. J. Solid Structures 5, 663–670 (1969) 2. : On the relation of a hand trajectory of a space robot and its attitude variation. Transactions of the Society of Instrument and Control Engineers 28(3), 374–382 (1992) 3. : Nonholonomic path planning of space robots via a bidirectional approach. IEEE Transaction on Robotics and Automation 7(4), 500–514 (1991) 4. : Lectures on Mechanics. London Mathematical Society Lecture Note Series, vol. 174. Cambridge University Press, Cambridge (1992) 5. : On the Lagrangian formalism of nonholonomic mechanical systems, DETC2005-84273.

The equilibrium point of xequiv satisfies the following equilibrium equation: 0 = −k(xequiv − xgap) + Fa(xequiv ). (2) The equilibrium point xequiv is changed with the gap xgap in the static equilibrium state under no effect of atomic force. Expanding Fa (x) around the equilibrium point with respect to Δ x(= x − xequiv ) yields Fa (x) = Fa (xequiv ) + dFa dx Δx (3) x=xequiv By using Eqs. (1), (2), and (3), we obtain the equation governing of the oscillation in the neighborhood of the equilibrium point x = xequiv as mΔ x¨ + cΔ x˙ + k − ka (xgap ) Δ x = 0, (4) 30 H.

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IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments: Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, Held in Budapest, Hungary, June 7–11, 2010 by László L. Kovács, Ambrus Zelei, László Bencsik, Gábor Stépán (auth.), Gábor Stépán, László L. Kovács, András Tóth (eds.)


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