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    Control of Closed Kinematic Chains Using A Singularly Perturbed Dynamics Model 

    Source: Journal of Dynamic Systems, Measurement, and Control:;2006:;volume( 128 ):;issue: 001:;page 142
    Author(s): Zhiyong Wang; Fathi H. Ghorbel
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: In this paper, we propose a novel approach to the control of closed kinematic chains (CKCs). This method is based on a recently developed singularly perturbed model for CKCs. Conventionally, ...
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    On the Kinematic Error in Harmonic Drive Gears 

    Source: Journal of Mechanical Design:;2001:;volume( 123 ):;issue: 001:;page 90
    Author(s): Fathi H. Ghorbel; Friedhelm Alpeter; Research Assistant; Prasanna S. Gandhi
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Harmonic drive gears are widely used in space applications, robotics, and precision positioning systems because of their attractive attributes including near-zero backlash, high speed reduction ...
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    Nanoscale Friction Dynamic Modeling 

    Source: Journal of Dynamic Systems, Measurement, and Control:;2009:;volume( 131 ):;issue: 006:;page 61102
    Author(s): Fakhreddine Landolsi; Fathi H. Ghorbel; Jun Lou; Hao Lu; Yuekai Sun
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Friction and system models are fundamentally coupled. In fact, the success of models in predicting experimental results depends highly on the modeling of friction. This is true at the atomic ...
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