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—This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the dynamics formulation is that it does not require the constraint equations to be linearly independent. Thus, a simulation may proceed even in the presence of(More)
—Most studies on adaptive coordination of multi-robot systems assume exact knowledge of system kinematics and deal only with dynamic uncertainties. However, many industrial applications involve tasks in which a multi-robot system interacts with geometrically unknown environments. In this paper, we consider a multi-robot system grasping a rigid object in(More)
Fig. 7. Mean distance between the desired image points and the actual image points at 26 intermediate configurations. The extra point represented for = 1 corresponds to the small error for the final desired image added after the final planned image. Fig. 8. Location of the robot end-effector frame at 26 intermediate configurations , for experiments 1(More)
This paper addresses the dynamics and control of direct drive robots with positive joint torque feedback. We analytically derive the system dynamics in closed form. Even though it is coupled and nonlinear in general , it is substantially simpler than the robot link dynamics. We also derive conditions on the robot conng-uration which result in linear(More)
— This paper focuses on the guidance of a robot manipulator to capture a tumbling satellite and then bring it to state of rest (detumbling). First, a coordination control for combined system of the space robot and the target satellite, which acts as the manipulator payload, is presented so that the robot tracks the optimal path while regulating the attitude(More)
—Positive joint torque feedback (JTF) can compensate the detrimental effects of load torques on position tracking performance. However, with (real world) nonideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. In this work, a new joint torque feedback approach is proposed(More)