Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021

The ASME Journal of Mechanisms and Robotics invites papers for a special issue drawing on papers from the 45th Mechanisms and Robotics Conference (MR), held as part of the 2021 International Design and Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2021). Sponsored by the Mechanisms and Robotics Technical Committee of the ASME Design Engineering Division, this annual gathering will take place virtually on August 17–20, 2021.
Read More
Journal of Mechanisms and Robotics Open Issues

Generated by Feedzy