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Dynamics Modelling Of A Multi Body Unicycle In Three Dimensional Space
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Book Synopsis Dynamics Modelling of a Multi Body Unicycle in Three-dimensional Space by : Buddhika Lakmal Aththanayaka
Download or read book Dynamics Modelling of a Multi Body Unicycle in Three-dimensional Space written by Buddhika Lakmal Aththanayaka and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Self-balanced unicycle has received the attention of researchers for decades. Over the years, unicycle models with several different assemblies have been introduced by them. A thorough analysis of the dynamics of a unicycle with a frame and a rotating disk is discussed in this research. A torque applied to the rolling wheel maintains the longitudinal stability of the system by moving forward and backward. The rotating disk mounted on the top of the frame maintains the lateral stability of the system by providing a torque. Due to this torque the rolling wheel precess and change its yaw direction. The components of the unicycle assembly are addressed separately for the analysis of the dynamics. First, only the rolling wheel considered. Then, the rolling wheel and the frame are analyzed. Finally, the completed assembly with the rotating disk considered to build the dynamics model. In each of these cases both Newton-Euler and Lagrangian methods are used to obtain the dynamics equations for the unicycle.
Book Synopsis Dynamics of the Unicycle by : Michał Niełaczny
Download or read book Dynamics of the Unicycle written by Michał Niełaczny and published by Springer. This book was released on 2018-07-02 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
Book Synopsis Kinematic and Dynamic Simulation of Multibody Systems by : Javier García de Jalón
Download or read book Kinematic and Dynamic Simulation of Multibody Systems written by Javier García de Jalón and published by . This book was released on 1994 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dynamic Simulation of Multibody Systems in Simultaneous, Indeterminate Contact and Impact with Friction by : Adrian Rodriguez
Download or read book Dynamic Simulation of Multibody Systems in Simultaneous, Indeterminate Contact and Impact with Friction written by Adrian Rodriguez and published by . This book was released on 2014 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research is focused on improving the solutions obtained using theory in contact and impact modeling. A theoretical framework is developed which can simulate the performance of dynamic systems within a real world environment. This environment involves conditions, such as contact, impact and friction. Numerical simulation provides an easy way to perform numerous iterations with varying conditions, which is more cost effective than building equivalent experimental setups. The developed framework will serve as a tool for engineers and scientists to gain some insight on predicting how a system may behave. The current field of research in multibody system dynamics lacks a framework for modeling simultaneous, indeterminate contact and impact with friction. This special class of contact and impact problems is the major focus of this research. This research develops a framework, which contributes to the existing literature. The contact and impact problems examined in this work are indeterminate with respect to the impact forces. This is problematic because the impact forces are needed to determine the slip-state of contact and impact points. The novelty of the developed approach relies on the formation of constraints among the velocities of the impact points. These constraints are used to address the indeterminate nature of the collisions encountered. This approach strictly adheres to the assumptions of rigid body modeling in conjunction with the notion that the configuration of the system does not change in the short time span of the collision. These assumptions imply that the impact Jacobian is constant during the collision, which enforces a kinematic relationship between the impact points. The developed framework is used to address simultaneous, indeterminate contact and impact problems with friction. In the preliminary stages of this research, an iterative method, which incorporated an optimization function was used obtain the solutions for numerical solution to the collision. In an effort to improve the time and accuracy of the results, the iterative method was replaced with an analytical approach and implemented with the constraint formulation to achieve more energetically consistent solutions (i.e. there are no unusual gains in energy after the impact). The details of why this claim is valid will be discussed in more detail in this dissertation. The analytical framework was developed for planar contact and impact problems, while a numerical framework is developed for three-dimensional (3D) problems. The modeling of friction in 3D presents some challenging issues that are well documented in the literature, which make it difficult to apply an analytical framework. Simulations are conducted for a planar ball, planar rocking block problem, Newton's Cradle, 3D sphere, and 3D rocking block. Some examples serve as benchmark problems, in which the results are validated using experimental data.
Book Synopsis Intelligent Robotics and Applications by : Honghai Liu
Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer Science & Business Media. This book was released on 2010-10-21 with total page 785 pages. Available in PDF, EPUB and Kindle. Book excerpt: The market demand for skills, knowledge and adaptability have positioned robotics to be an important field in both engineering and science. One of the most highly visible applications of robotics has been the robotic automation of many industrial tasks in factories. In the future, a new era will come in which we will see a greater success for robotics in non-industrial environments. In order to anticipate a wider deployment of intelligent and autonomous robots for tasks such as manufacturing, healthcare, ent- tainment, search and rescue, surveillance, exploration, and security missions, it is essential to push the frontier of robotics into a new dimension, one in which motion and intelligence play equally important roles. The 2010 International Conference on Intelligent Robotics and Applications (ICIRA 2010) was held in Shanghai, China, November 10–12, 2010. The theme of the c- ference was “Robotics Harmonizing Life,” a theme that reflects the ever-growing interest in research, development and applications in the dynamic and exciting areas of intelligent robotics. These volumes of Springer’s Lecture Notes in Artificial Intel- gence and Lecture Notes in Computer Science contain 140 high-quality papers, which were selected at least for the papers in general sessions, with a 62% acceptance rate Traditionally, ICIRA 2010 holds a series of plenary talks, and we were fortunate to have two such keynote speakers who shared their expertise with us in diverse topic areas spanning the rang of intelligent robotics and application activities.
Book Synopsis New Technologies, Development and Application VII by : Isak Karabegovic
Download or read book New Technologies, Development and Application VII written by Isak Karabegovic and published by Springer Nature. This book was released on with total page 781 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1992 with total page 1556 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis International Aerospace Abstracts by :
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1990 with total page 1154 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robotics, Vision and Control by : Peter Corke
Download or read book Robotics, Vision and Control written by Peter Corke and published by Springer Nature. This book was released on 2023-06-16 with total page 833 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook provides a comprehensive, but tutorial, introduction to robotics, computer vision, and control. It is written in a light but informative conversational style, weaving text, figures, mathematics, and lines of code into a cohesive narrative. Over 1600 code examples show how complex problems can be decomposed and solved using just a few simple lines of code. This edition is based on MATLAB® and a number of MathWorks® toolboxes. These provide a set of supported software tools for addressing a broad range of applications in robotics and computer vision. These toolboxes enable the reader to easily bring the algorithmic concepts into practice and work with real, non-trivial, problems. For the beginning student, the book makes the algorithms accessible, the toolbox code can be read to gain understanding, and the examples illustrate how it can be used. The code can also be the starting point for new work, for practitioners, students, or researchers, by writing programs based on toolbox functions. Two co-authors from MathWorks have joined the writing team and bring deep knowledge of these MATLAB toolboxes and workflows.
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1995 with total page 1208 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robot Dynamics and Control by : Mark W. Spong
Download or read book Robot Dynamics and Control written by Mark W. Spong and published by Wiley. This book was released on 1991-01-16 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.
Book Synopsis The DARPA Urban Challenge by : Martin Buehler
Download or read book The DARPA Urban Challenge written by Martin Buehler and published by Springer. This book was released on 2009-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.
Download or read book Aerospace America written by and published by . This book was released on 1990 with total page 638 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis The Complexity of Robot Motion Planning by : John Canny
Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.
Book Synopsis Distributed Autonomous Robotic Systems by : Nak-Young Chong
Download or read book Distributed Autonomous Robotic Systems written by Nak-Young Chong and published by Springer. This book was released on 2016-01-14 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Australia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems.
Book Synopsis Advanced Analytical Dynamics by : Vincent De Sapio
Download or read book Advanced Analytical Dynamics written by Vincent De Sapio and published by Cambridge University Press. This book was released on 2017-02-27 with total page 305 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intended for graduate students, this textbook provides an understanding of the theoretical underpinnings of analytical mechanics, as well as modern task-based approaches that can be exploited for real-world problems. Students will receive a timely perspective on applying theory to modern problems in areas like biomechanics and robotics.
Book Synopsis Road and Off-Road Vehicle System Dynamics Handbook by : Gianpiero Mastinu
Download or read book Road and Off-Road Vehicle System Dynamics Handbook written by Gianpiero Mastinu and published by CRC Press. This book was released on 2014-01-06 with total page 1710 pages. Available in PDF, EPUB and Kindle. Book excerpt: Featuring contributions from leading experts, the Road and Off-Road Vehicle System Dynamics Handbook provides comprehensive, authoritative coverage of all the major issues involved in road vehicle dynamic behavior. While the focus is on automobiles, this book also highlights motorcycles, heavy commercial vehicles, and off-road vehicles. The authors of the individual chapters, both from automotive industry and universities, address basic issues, but also include references to significant papers for further reading. Thus the handbook is devoted both to the beginner, wishing to acquire basic knowledge on a specific topic, and to the experienced engineer or scientist, wishing to have up-to-date information on a particular subject. It can also be used as a textbook for master courses at universities. The handbook begins with a short history of road and off-road vehicle dynamics followed by detailed, state-of-the-art chapters on modeling, analysis and optimization in vehicle system dynamics, vehicle concepts and aerodynamics, pneumatic tires and contact wheel-road/off-road, modeling vehicle subsystems, vehicle dynamics and active safety, man-vehicle interaction, intelligent vehicle systems, and road accident reconstruction and passive safety. Provides extensive coverage of modeling, simulation, and analysis techniques Surveys all vehicle subsystems from a vehicle dynamics point of view Focuses on pneumatic tires and contact wheel-road/off-road Discusses intelligent vehicle systems technologies and active safety Considers safety factors and accident reconstruction procedures Includes chapters written by leading experts from all over the world This text provides an applicable source of information for all people interested in a deeper understanding of road vehicle dynamics and related problems.
