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.

Position-Access Workspace of Slender Soft Manipulators


In this article, we investigate the position-access workspace estimation of slender soft manipulators controlled via arranged bounded actuators. For this, we implement a so-called forward-backward approach on the mathematical model of the investigated soft robot deduced via the adopted Discrete Cosserat method. The proposed methodology is validated on several planar and spatial slender soft manipulators’ configurations, where we show its advantage of reducing computation complexity for estimating the workspace, compared to traditional forward approach.

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