1-7 of 7
Keywords: control of mechanical systems
Close
Save search
Follow your search
Access your saved searches in your account
Would you like to receive an alert when new items match your search?
Close Modal
Sort by
Journal Articles

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

A. Ghoul, S. Djeffal, H. Wang, K. Kara, M. L. Hadjili
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021002.
Paper No: JMR-23-1749
https://doi.org/10.1115/1.4065698
Published Online: July 19, 2024
... and dynamic modeling computed torque control particle swarm optimization bio-inspired cable-driven compliant mechanisms and robots kinematics dynamics control of mechanical systems mechanisms and robots motion and manipulation planning robot motion planning and control soft robots Robotic...
View Article titled, Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots
Open the PDF for Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots in another window
Topics: Cables, Robots, Control equipment, Dynamic models, Kinematics
Journal Articles

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

Chengleng Han, Lin Xu, Mohamed A. A. Abdelkareem, Jia Mi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021006.
Paper No: JMR-23-1606
https://doi.org/10.1115/1.4065891
Published Online: July 19, 2024
.... Natural Science Foundation of Hubei Province 10.13039/501100003819 Grant No. B2022607 reconfigurable closed-chain leg link length adjustment variable-domain sliding mode control active compliance control hexapod robot kinematics dynamics control of mechanical systems legged robots...
View Article titled, Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing
Open the PDF for Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing in another window
Topics: Chain, Cylinders, Design, Engines, Kinematics, Motors, Robots, Sliding mode control, Hydraulic cylinders, Trajectories (Physics)
Journal Articles

Series Clutched Actuation for Collision-Tolerant High-Speed Robots

Frederik Ostyn, Bram Vanderborght, Guillaume Crevecoeur
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121008.
Paper No: JMR-23-1250
https://doi.org/10.1115/1.4065235
Published Online: April 23, 2024
... 23 04 2024 Graphical Abstract Figure compliant mechanisms kinematics dynamics control of mechanical systems mechanisms and robots Fonds Wetenschappelijk Onderzoek 10.13039/501100003130 G0A9623N Robots with non-backdrivable drivetrains may fail when...
View Article titled, Series Clutched Actuation for Collision-Tolerant High-Speed Robots
Open the PDF for Series Clutched Actuation for Collision-Tolerant High-Speed Robots in another window
Topics: Collisions (Physics), Robots, Torque
Journal Articles

Identification of Real and Complex Solution Varieties and Their Singularities Defined by Loop Constraints of Linkages Using the Kinematic Tangent Cone

Andreas Müller, Zijia Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111003.
Paper No: JMR-23-1679
https://doi.org/10.1115/1.4064575
Published Online: March 29, 2024
... } . Thus, rank is 5 at the one-dimensional complex solution branches, while rank is 3 only at q 0 . kinematics dynamics control of mechanical systems mechanism design mechanism synthesis and analysis parallel mechanisms and robots theoretical and computational kinematics...
View Article titled, Identification of Real and Complex Solution Varieties and Their Singularities Defined by Loop Constraints of Linkages Using the Kinematic Tangent Cone
Open the PDF for Identification of Real and Complex Solution Varieties and Their Singularities Defined by Loop Constraints of Linkages Using the Kinematic Tangent Cone in another window
Topics: Kinematics, Linkages
Journal Articles

Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation

Ravinder Kumar, T. A. Dwarakanath, Gaurav Bhutani, S. K. Sinha
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101005.
Paper No: JMR-23-1445
https://doi.org/10.1115/1.4064485
Published Online: February 5, 2024
...-spherical (UPS) 6-6 parallel mechanism. Bhabha Atomic Research Centre 10.13039/501100005031 NA Stewart–Gough mechanism forward kinematics real-time FK solutions and tele-manipulation kinematics control of mechanical systems mechanisms and robots medical robotics parallel...
View Article titled, Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation
Open the PDF for Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation in another window
Topics: Algorithms, Computation, Kinematics, Trajectories (Physics), Robots, Manipulators
Journal Articles

Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism

Yangyang Huang, Jinzhu Zhang, Xiaoyan Xiong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071012.
Paper No: JMR-23-1351
https://doi.org/10.1115/1.4063670
Published Online: November 14, 2023
... Committee of ASME for publication in the J ournal of M echanisms and R obotics . 26 06 2023 20 09 2023 27 09 2023 14 11 2023 kinematics dynamics control of mechanical systems parallel mechanisms and robots performance evaluation As depicted in Fig. 3 , the 4-DOF...
View Article titled, Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism
Open the PDF for Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism in another window
Topics: Dynamic modeling, Dynamic models, Dynamics (Mechanics), Inertia (Mechanics), Manipulators, Performance evaluation, Pulse width modulation, Trajectories (Physics), Kinematics, Engineering prototypes
Journal Articles

Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction

Yongfeng Rong, Wusheng Chou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071001.
Paper No: JMR-23-1182
https://doi.org/10.1115/1.4063368
Published Online: October 13, 2023
... and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 01 04 2023 30 08 2023 31 08 2023 13 10 2023 flying robots kinematics dynamics control of mechanical systems mechanism design mechanism synthesis mechanisms and robots multibody...
View Article titled, Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction
Open the PDF for Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction in another window
Topics: Design, Dynamics (Mechanics), Manipulators, Control equipment, Unmanned aerial vehicles, Actuators