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Non-linear and coupled dynamic equations of motion automatically generated by computer in algebraic form are piecewise linearized and discretized to form a set of state difference equations by which… (More)
The handling responses of an actively suspended large car to ramp steering wheel inputs are calculated. The car is fitted with rotary actuators in the anti-roll bars at front and rear, operating… (More)
Based on the use of homogeneous transformation matrices with Denavit-Hartenberg notation and the Lagrangian formulation method, a general computer program ROBDYN.RED for the symbolic derivation of… (More)
This paper contains an extension of a previous work (18) to include actuator limitations. A mathematical model for describing the complete dynamics of a robot manipulator is obtained by combining the… (More)