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RISA Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a sliding mode based repetitive learning control method for highprecision tracking of robot manipulators with actuator saturation. Advantages of the proposed control include the absence of model parameter ...
Fixed-Time Inverse Dynamics Control for Robot Manipulators
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper concerns with global fixed-time trajectory tracking of robot manipulators. A simple nonlinear inverse dynamics control (IDC) is proposed by using bi-limit homogeneity technique. Lyapunov stability theory and ...
Fixed-Time Inverse Dynamics Control for Robot Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper concerns with global fixed-time trajectory tracking of robot manipulators. A simple nonlinear inverse dynamics control (IDC) is proposed by using bi-limit homogeneity technique. Lyapunov stability theory and ...
Adjoint Analysis of Plane Poiseuille Flow Global and Convective Stability
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The adjoint analysis of plane Poiseuille flow is conducted for both global and convective stability problems. Receptivity and structural sensitivity are analyzed using a stabilized finite element method. In the global ...
Seismic Analysis of Hybrid Steel Moment Frame CLT Shear Walls Structures
Publisher: ASCE
Abstract: Moderately ductile steel moment frames (SMF) are a common lateral load resisting system (LLRS). They allow for a flexible architectural design for low- and mid-rise buildings but become uneconomical for high-rises due to ...
Experimental Parameter Study on CLT Shear Walls with Self-Tapping Screw Connections
Publisher: ASCE
Abstract: This paper presents experimental investigations on the lateral performance of cross-laminated timber (CLT) shear walls with customized self-tapping screw (STS) connections. The panel-to-base (hold-downs and shear brackets) ...
Variational Approach to Percolation Threshold of Nanocomposites Considering Clustering Effect
Publisher: American Society of Civil Engineers
Abstract: To mathematically model the phenomenon of complete dispersion, a crucial step is taken in a recent paper on isotropic formulation of the homogenized Eshelby’s tensor, leading to derivation of the ellipsoidal bound. In this ...
Global Output Feedback Finite-Time Regulation of Robot Manipulators Under Actuator Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the finite-time regulation problem of robot manipulators under saturated actuator inputs with position measurements only is addressed. A simple saturated finite-time proportional-derivative (PD) plus gravity ...
Transform Operator Pair Assisted Hilbert–Huang Transform for Signals With Instantaneous Frequency Intersections
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Due to low frequency resolution for closely spaced spectral components, i.e., the instantaneous frequencies (IFs) lie within an octave or even have intersections, the Hilbert–Huang transform (HHT) fails to separate such ...
Configuration Bifurcations Analysis of Six Degree-of-Freedom Symmetrical Stewart Parallel Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The configuration bifurcations of Stewart parallel manipulators at singular positions induce the uncertainty of the moving trends of the manipulative platform. The Jacobian matrix method can ...