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Proceedings Papers

Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique

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M. A. Townsend, S. Gupta
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 99-109, September 27–30, 1987
Publisher: American Society of Mechanical Engineers
Paper No: DETC1987-0068
https://doi.org/10.1115/DETC1987-0068
View Paper titled, Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique
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Topics: Modeling, Polynomials, Robot dynamics, Equations of motion, Robots, Computation
Proceedings Papers

The Effects of Harmonic Drive Gears on Robot Dynamics

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Tsung-Chieh Lin, K. Harold Yae
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 515-522, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0158
https://doi.org/10.1115/DETC1991-0158
View Paper titled, The Effects of Harmonic Drive Gears on Robot Dynamics
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Topics: Gears, Robot dynamics, Rotors, Degrees of freedom, Equations of motion, Manipulator dynamics, Modeling, Robots, Spin (Aerodynamics), Spinning (Textile)
Proceedings Papers

Numeric-Symbolic Approach for Dynamic Modelling of Robotic Manipulators

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Shou-wen Fan, Liju Xu, Yong Chen
Proc. ASME. DETC92, 18th Design Automation Conference: Volume 2 — Geometric Modeling, Mechanisms, and Mechanical Systems Analysis, 303-306, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0179
https://doi.org/10.1115/DETC1992-0179
View Paper titled, Numeric-Symbolic Approach for Dynamic Modelling of Robotic Manipulators
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Topics: Dynamic modeling, Manipulators, Computer software, Equations of motion, Robot dynamics, Torque
Proceedings Papers

Stable and Unstable Quasiperiodic Oscillations in Robot Dynamics

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G. Stépán, G. Haller
Proc. ASME. DETC93, 14th Biennial Conference on Mechanical Vibration and Noise: Dynamics and Vibration of Time-Varying Systems and Structures, 279-285, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0115
https://doi.org/10.1115/DETC1993-0115
View Paper titled, Stable and Unstable Quasiperiodic Oscillations in Robot Dynamics
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Topics: Oscillations, Robot dynamics, Robots, Degrees of freedom, Bifurcation, Delays, Dynamics (Mechanics), Nonlinear dynamical systems, Phase space
Proceedings Papers

Concept, Development and Implementation of DAMOS-C: The Object Oriented Approach to Multibody Systems

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Andreas Daberkow, Werner Schiehlen
Proc. ASME. CIE94, ASME 1994 International Computers in Engineering Conference and Exhibition, 937-951, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: CIE1994-0492
https://doi.org/10.1115/CIE1994-0492
View Paper titled, Concept, Development and Implementation of DAMOS-C: The Object Oriented Approach to Multibody Systems
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Topics: Multibody systems, Computer-aided design, Modeling, Computer software, Multibody dynamics, Computers, Construction, Cycles, Engineering design, Machinery
Proceedings Papers

A Coordinate Invariant Formulation of the Dynamics of Cooperating Robot Systems

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Scott R. Ploen, Frank C. Park
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A036, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1160
https://doi.org/10.1115/96-DETC/MECH-1160
View Paper titled, A Coordinate Invariant Formulation of the Dynamics of Cooperating Robot Systems
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Topics: Dynamics (Mechanics), Robots, Equations of motion, Chain, Gravity (Force), Kinematics, Lie algebras, Robot dynamics, Transparency
Proceedings Papers

Explicit Algorithm for Robot Manipulator Dual Dynamics

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Vladimir Brodsky, Moshe Shoham
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A095, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/DAC-4316
https://doi.org/10.1115/DETC97/DAC-4316
View Paper titled, Explicit Algorithm for Robot Manipulator Dual Dynamics
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Topics: Algorithms, Dynamics (Mechanics), Inertia (Mechanics), Manipulators, Engines, Equations of motion, Motors, Kinematics, Momentum, Dimensions
Proceedings Papers

Neuroadaptive Controller for Physical Interaction With an Omni-Directional Mobile Nurse Assistant Robot

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Mohammad N. Saadatzi, Shamsudeen Abubakar, Sumit Kumar Das, M. Hossein Saadatzi, Dan Popa
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A055, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22501
https://doi.org/10.1115/DETC2020-22501
View Paper titled, Neuroadaptive Controller for Physical Interaction With an Omni-Directional Mobile Nurse Assistant Robot
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Topics: Control equipment, Robots, Mechanical admittance, Dynamic models, Health care, Manipulators, Robot dynamics, Robotics, Simulation, Stability
Proceedings Papers

An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots

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Shivesh Kumar, Andreas Mueller
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A054, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97115
https://doi.org/10.1115/DETC2019-97115
View Paper titled, An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots
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Topics: Computer software, Dynamics (Mechanics), Kinematics, Robots, Dynamic modeling, Design, Humanoid robots, Machinery, Parallel mechanisms, Robot dynamics
Proceedings Papers

Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller

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Mahdi Haghshenas-Jaryani, GholamReza Vossoughi
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A053, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46480
https://doi.org/10.1115/DETC2015-46480
View Paper titled, Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller
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Topics: Control equipment, Robots, Trajectories (Physics), Kinematics, Uncertainty, Actuators, Algorithms, Coulombs, Degrees of freedom, Friction
Proceedings Papers

A Lie Group Formulation of the Newton-Euler Equations and its Application to Robot Dynamics

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Genliang Chen, Hao Wang, Yong Zhong, Haidong Yu
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A021, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47221
https://doi.org/10.1115/DETC2015-47221
View Paper titled, A Lie Group Formulation of the Newton-Euler Equations and its Application to Robot Dynamics
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Topics: Robot dynamics, Screws, Dynamics (Mechanics), Kinematics, Lie algebras, Robot kinematics, Robots, Rotation, System dynamics, Virtual work principle
Proceedings Papers

Temporally Consistent Simulation of Robots and Their Controllers

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James R. Taylor, Evan M. Drumwright, Gabriel Parmer
Proc. ASME. IDETC-CIE2014, Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A043, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35609
https://doi.org/10.1115/DETC2014-35609
View Paper titled, Temporally Consistent Simulation of Robots and Their Controllers
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Topics: Control equipment, Robots, Simulation, Algorithms, Collisions (Physics), Computer software, Control characters, Damage, Design, Dynamics (Mechanics)
Proceedings Papers

Dynamics-Based Model for a New Class of a Rectilinear-Gait for a Snake-Inspired Robot

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James K. Hopkins, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 151-160, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71256
https://doi.org/10.1115/DETC2012-71256
View Paper titled, Dynamics-Based Model for a New Class of a Rectilinear-Gait for a Snake-Inspired Robot
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Topics: Dynamics (Mechanics), Robots, Traction, Design, Robot dynamics, Surface roughness, Wheels
Proceedings Papers

Multiple Cooperating Robot Dynamics and Fuzzy Logic Control for Internal Force Minimization

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Manish Kumar, Devendra P. Garg
Proc. ASME. IDETC-CIE2003, Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C, 1697-1704, September 2–6, 2003
Publisher: American Society of Mechanical Engineers
Paper No: DETC2003/VIB-48508
https://doi.org/10.1115/DETC2003/VIB-48508
View Paper titled, Multiple Cooperating Robot Dynamics and Fuzzy Logic Control for Internal Force Minimization
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Topics: Fuzzy logic, Robot dynamics, Robots, Degrees of freedom, Structural mechanics, Control equipment, Engineering simulation, Simulation
Proceedings Papers

Wheeled Omni-Directional Robot Dynamics Including Slip

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Robert L. Williams, II, Brian E. Carter, Paolo Gallina, Giulio Rosati
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 201-207, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34221
https://doi.org/10.1115/DETC2002/MECH-34221
View Paper titled, Wheeled Omni-Directional Robot Dynamics Including Slip
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Topics: Dynamic models, Dynamics (Mechanics), Friction, Mobile robots, Robot dynamics, Robots, Rollers, Simulation, Simulation results, Trajectories (Physics)