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RISModular Manipulators for Cluttered Environments: A Task-Based Configuration Design Approach
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Modular manipulators gained popularity for their implicit feature of “reconfigurability”—that is, the ability to serve multiple applications by adopting different configurations. As reported in the literature, most of the ...
Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Euler–Lagrange's formulation is known for its systematic and simplified approach to deriving dynamics of complex systems. In order to apply the existing formulation to human gait dynamics, the base reference frame must be ...
Pulse Width Modulation Duty Cycle and Desired Angle-Based Command Shaping for Vibration Suppression of Flexible Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. This work demonstrates vibration suppression of a single-link flexible manipulator (SLFM) and a two-link flexible manipulator (TLFM) using input shaping. In this, inputs include pulse width modulation (PWM) duty ...