...Zhiyong Wang; Fathi H. Ghorbel 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, the dynamics of CKCs are described by differential-algebraic equations (DAEs...

... degree-of-freedom (DOF) within the articulated chain. We focus our attention on achieving two goals: (i) obtaining adequate ground clearance by designing the desired/feasible motions of the wheel axle, relative to the chassis, using methods from kinematic synthesis; and (ii) reducing overall actuation...

...Daniela Constantinescu; Septimiu E. Salcudean; Elizabeth A. Croft This paper presents an approach for providing realistic force feedback to users manipulating serial-chain virtual mechanisms. In the proposed approach, a haptic device controller is designed that penalizes users’ motion along...