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RISA Simple Treatment of Constraint Forces and Constraint Moments in the Dynamics of Rigid Bodies
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this expository article, a simple concise treatment of Lagrange's prescription for constraint forces and constraint moments in the dynamics of rigid bodies is presented. The treatment is suited to both Newton–Euler ...
On the Gibbs–Appell Equations for the Dynamics of Rigid Bodies
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this technical brief, a simple concise derivation of the Gibbs–Appell equations for the dynamics of a constrained rigid body is presented.
Controlling the Locomotion of Spherical Robots or Why BB-8 Works
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Spherical robots have a wide range of self-propulsion mechanisms. Of particular interest in this paper are propulsion systems where wheels are placed in contact with the inner surface of the spherical shell of the robot. ...
Controlling the Locomotion of Spherical Robots or Why BB-8 Works
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: Spherical robots have a wide range of self-propulsion mechanisms. Of particular interest in this paper are propulsion systems where wheels are placed in contact with the inner surface of the spherical shell of the robot. ...
On Representations for Joint Moments Using a Joint Coordinate System
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In studies of the biomechanics of joints, the representation of moments using the joint coordinate system has been discussed by several authors. The primary purpose of this technical brief is to emphasize that there are ...