Abstract: This paper deals with manipulator systems comprising a long-reach manipulator (LRM) with a short-reach dextrous manipulator (SRM) attached to its end. The former, due to its size, is assumed ...

Abstract: This paper presents a new solution procedure for simulation dynamics of multibody systems. The method is applicable to open chains with general interbody constraints. It is based on obtaining ...

Abstract: Correct modeling of friction forces during constrained robotic operations is critical to high-fidelity contact dynamics simulation. Such simulations are particularly important for the development, ...

Abstract: With the fast advances in computing technology, contact dynamics simulations are playing a more important role in the design, verification, and operation support of space systems. The validity ...