Sunil Agrawal

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In this paper, the energetics of a flapping wing micro air vehicle is analyzed with the objective of design of flapping wing air vehicles. The salient features of this study are: (i) design of an energy storage mechanism in the air vehicle similar to an insect thorax which stores part of the kinetic energy of the wing as elastic potential energy in the(More)
USA Abstract − In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by(More)
—This paper presents the differential flatness-based integrated point-to-point trajectory planning and control method for a class of nonholonomic Wheeled Mobile Manipulator (WMM). We demonstrate that its kinematic model possesses a feedback-linearizable description due to the flatness property, which allows for full state controllability. Trajectory(More)
This paper presents an integrated motion planning and control framework for a nonholonomic wheeled mobile manipulator (WMM) system taking advantage of the (differential) flatness property. We first develop the kinematic model of the system and analyze its flatness properties. Subsequently, a statically feedback linearizable system description is developed(More)
In this paper, we study the design and workspace of a 6–6 cable-suspended parallel robot. The work-space volume is characterized as the set of points where the centroid of the moving platform can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by(More)