Nonlinear Disturbance Decoupling for a Mobile Robotic Manipulator over Uneven Terrain
|
|
- Kelly Little
- 6 years ago
- Views:
Transcription
1 Nonlinear Disturbance Decoupling for a Mobile Robotic Manipulator oer Uneen Terrain Joel Jimenez-Lozano Bill Goodwine Department of Aerospace and Mechanical Engineering Uniersity of Noe Dame Noe Dame IN 66 USA ( jjimene@nd.edu) Department of Aerospace and Mechanical Engineering Uniersity of Noe Dame Noe Dame IN 66 USA ( billgoodwine@nd.edu) Absact: This paper considers the nonlinear disturbance decoupling problem for a robotic manipulator that is mounted on a mobile platform. A mobile manipulation system offers a dual adantage of mobility offered by a mobile platform and deterity offered by the manipulator. In this work the acking and nonlinear disturbance decoupling problems are studied with particular focus on disturbances due to uneen terrain. We show that this system possesses the necessary geomeic sucture for complete disturbance decoupling between the outputs and disturbances. The disturbances are modeled as changes in the effect of graitational forces on the mobile manipulator due to its motion oer a uneen terrain. Simulation results illusate complete disturbance decoupling een in the presence of significant disturbances using the designed nonlinear conoller.. INTRODUCTION This paper presents results for complete nonlinear disturbance decoupling for a manipulator mounted on a mobile platform subjected to arying graitational forces due to uneen terrain. A mobile manipulators built from a robotic arm mounted on a wheeled mobile platform proides better capabilities for numerous tasks. A mobile manipulator combines the deterous manipulation capability offered by the manipulator and the motility proided by the mobile platform. Inestigation of their stability conol design simulation and eperimentation for different situations has been studied by many researchers including Chen and Zalzala 997 Wang and Kumar 993 Chung and Velinsky 998 Nikoobin and Rahimi 9 and others. Yamamoto and Yun 996 studied the effect of the dynamic interaction between the manipulator and the mobile platform and showed that the system was feedback linearizable under the appropriate nonlinear change of coordinates. The manipulator acks a desired ajectory in a fied reference frame. Their objectie was to compensate the dynamic interaction through a nonlinear feedback to improe the performance of the oerall system. A modular approach of this analysis was presented in Yamamoto and Yun 997 which includes a detailed proof of the functional dependence of some of the dynamic terms of the equations. In this work that methodology will be etended in studying a mobile manipulator in which we will include eternal force disturbances into the system. The final goal of the disturbance decoupling problem is to find a state feedback law such that the output is unaffected by the disturbance. Related work on disturbance decoupling hae been studied on robotic manipulators and mobile platforms in Nijmeijer 983 Danesh et al. Joshi and Desrochers 986 Zhu et al. 993 Gao 6 Papadopoulos and Paraskeopoulos 98 Esada and Malabre and others. In the following sections we present the dynamic equations of the mobile manipulator which are coupled. A state space representation of the equations is presented which etends the deriation in Yamamoto and Yun 996. A nonlinear feedback conoller is designed which includes disturbance decoupling. The calculation of disturbance forces due to the motion of the mobile platform oer an uneen terrain is presented and simulation results are presented which illusate the position of the mobile manipulator during motion to follow indiidual task ajectories for the platform and arm and other ariables. It is shown that the outputs are completely decoupled from the disturbances. The main conibution of this paper is applying the disturbance decoupling method to a problem with practical utility and with a leel of compleity similar to real-world problems.. MODELING EQUATIONS The equation of motion of the robotic manipulator subject to ehicle motion Yamamoto and Yun can be etended to include eternal force disturbances and it is gien by M r (q r ) q r C r (q r q r ) C (q r q r q ) τ r R r (q r q ) q J r T (q r ) r J T (q r ) () where q r θ θ T denotes the Lagrangian coordinates of a R manipulator q denotes the Lagrangian coordinates of the mobile platform M r is the inertia Mai C r represents the Coriolis and cenifugal terms C denotes the Coriolis and
2 cenifugal terms caused by the angular motion of the platform τ r is the input torque/force for the manipulator R r is the inertia mai which represents the effect of the ehicle dynamics on the manipulator r and are eternal force disturbance ectors on the center of graity on each arm link and J r T (q r ) and J T (q r ) is the task space Jacobian mai of each arm link. Each term mai/ector is presented in the Appendi. The equation of motion of the mobile platform with a mounted manipulator Yamamoto and Yun including eternal force disturbances is gien by M (q ) q C (q q ) C (q r q r q q ) E τ A T λ M (q r q ) q R (q r q ) q r E J T (q )F e () where q denotes the Lagrangian coordinates of the mobile platform and will be described in the net section M and C are the mass inertia and the elocity dependent terms of the platform respectiely M and C represent the inertial term and Coriolis and cenifugal terms due to the presence of the manipulator τ is the input torque/force to the ehicle E is a constant mai λ denotes the ector Lagrange multipliers corresponding to the kinematic consaints R represents the inertia mai which reflects the dynamic effect of the arm motion on the ehicle F e is an eternal force disturbance ector on the mobile platform through its center and J T (q ) is the moing space Jacobian mai for the mobile platform. Combining the elocity and inertia terms in Eqn. () and Eqn. () respectiely equations of motion of the wheeled mobile manipulator are simplified to M r (q r ) q r C r (q r q r q ) τ r R r (q r q ) q J T r (q r )F r e J T (q r ) (3) M (q r q ) q C (q r q q r q ) E τ R (q r q ) q r A T λ E J T (q )F e where C r C r C C C C and M M M.. Consaint Equations of the Mobile Platform The following notation will be used in the deriation of the consaint and dynamic equations as is illusated in Fig.. () For the mobile platform ( y ) are the coordinates of the point P which is the intersection of the ais of symmey with the driing wheel ais in the inertial frame b is the distance between the driing wheels and the ais of symmey r is the radius of each driing wheel θ r and θ l are the angular positions of the right and left driing wheel respectiely φ r(θ r θ l )/b c(θ r θ l ) is the heading angle of the mobile robot measured from w X- ais d is the distance from P to the center of mass of the platform m c is the mass of the platform without the driing wheels and I c is the moment of inertia of the platform without the driing wheels about a ertical ais through P. () For the manipulator P b ( b y b ) are the coordinates of the base of the manipulator in the frame Σ θ and θ are the joint angles of the manipulator l and l are the arm lengths respectiely m w is the mass of each driing wheel and I m is the moment of inertia of each wheel and the motor about the wheel diameter. The mobile platform has two co-aial wheels drien by motors. There are three consaints to which the platform is subjected one is that the platform must moe in the direction of the ais of w Σ w Y φ w X b Y r P e P r P X θ Σ d P b θ l r l Fig.. Geomey of the mobile platform and the mounted R manipulator. symmey and the other two are rolling consaints i.e. driing wheels do not slip. The consaint equations are gien in mai form as A(q ) q where q y θ r θ l T and A(q ) is gien by A(q ) sinφ cosφ. () cosφ sinφ cb cb. State Space Formulation of Motion Equations The dynamics of the wheeled mobile manipulator are goerned by Eqns. (3) and A(q ) q. Since the platform elocity is always in the null space of A(q ) Yamamoto and Yun 996 from A(q ) q it is possible to define a ector of generalized coordinates η(t) such that q S(q )η(t) where S(q ) is a full rank mai whose columns are in the null space of A(q ). Thus cbcosφ cbcosφ cbsinφ cbsinφ S(q ). Differentiating q substituting for q into the first equation in Eqns. (3) and multiply by S T. Following a similar procedure for q which is substituted into the second equation in Eqns. (3) results in the system of equations S T M S S T R R r S M r ξ P Q q η r S T M Ṡη S T C S T E τ C r R r Ṡη I τ r S T E J T D T r J r Fe D T. J D 3 Using the state ector q T q T r η T q T r T the system can be rewritten as
3 ẋ Sη q r τ P ξ P Q P D F() G() p () ω ω 3 P D P D 3 p () p 3 () where τ τ τ r T ω T and ω r T and ω 3 T. Hence the state space form is ẋ F() G()τ p ()ω p ()ω p 3 ()ω 3. () ω 3. FEEDBACK CONTROL AND DISTURBANCE DECOUPLING In this section subsection 3. deries the output equations and follows Yamamoto and Yun 996. Subsection 3. includes disturbance decoupling results not presented in their work. We look to conol the mobile platform in such a way that P r is brought to P e so the manipulator is brought into the preferred configuration. Thus we select the coordinates of P r in the inertial frame Σ w i.e. w P r w r w y r y cosφ sinφ sinφ cosφ l ly to be the other two components of the output equation. The output equations for conolling the mobile manipulator are gien by w r ( y θ r θ l ) y w y r ( y θ r θ l ) e (θ θ ). (6) y e (θ θ ) h() The objectie of selecting these outputs is that the system is nonholonomic and it is not input state linearizable it is input-output linearizable if a proper set of output equations are chosen. In addition these set of outputs made the system proper for disturbance decoupling as shown net. 3. Output Equations The desired task ajectory for the endpoint of the manipulator P e in the frame Σ w is gien by w w P e (t) e (t) w. y e (t) The mobile manipulator shown in Fig. has four inputs two from the R manipulator and two from the mobile platform. We may hae up to four output ariables to be conolled. First we select the output ariables of the manipulator to be P e which represents the actual location of the end point of the manipulator. The coordinates of P e with respect to the platform coordinate frame Σ are gien by P e e y e l cosθ l cos(θ θ ) b l sinθ l sin(θ θ ) y b where the points P e and w P e are related by w P e w P R cosφ sinφ φ P e e. y sinφ cosφ y e The output ariables for conolling the mobile platform are chosen net. The objectie of the platform moement is to bring the manipulator into a preferred configuration. For this purpose we pick the configuration with the maimum manipulability measure as the preferred configuration of the manipulator. The manipulability measure can be regarded as a distance measure of the manipulator configuration from singular ones at which the manipulability becomes zero. At or near a singular configuration the endpoint of the manipulator may not easily moe in certain directions. The effort of maimizing manipulability measure leads to keeping the manipulator configuration away from singularity. The manipulability measure for nonredundant manipulators w l l sinθ Yoshikawa 99 and is maimized for θ π/ and arbiary θ. The endpoint of the manipulator at the preferred configuration is denoted by P r called the reference point. The coordinates of P r in Σ are gien by P r r y r l l b y b l. ly 3. Feedback Input-Output Linearization with Disturbance Decoupling We hae presented the dynamics of the mobile manipulator in the state space form Eqn. () and the output equation Eqn. (6). The ector field is modeled through the p()s. To achiee inputoutput linearization a nonlinear feedback has to be employed. To simplify state Eqn. () we applied the following feedback τ Q (Pu ξ ) (7) which simplifies the state equation as Sη ẋ q r u ω I P D f () g p () ω (8) ω 3 P D P D 3 p () p 3 () y h(). If the disturbances ω are aailable for measurements one can use a conol u α() β() γ ()ω γ ()ω γ 3 ()ω 3 Isidori. Then decoupling the output from the disturbance it is possible. The relatie degree of the system is r that is the number of differentiations of each component of the outputs until the input eplicitly appears in the deriatie ÿ. Following the analysis of Isidori the conol law soling the problem of decoupling y is gien by
4 α() L f h() L g L f h() Φ β() L g L f h() Φ Φ η q r γ () L p L f h() L g L f h() P D γ () L p L f h() L g L f h() P D γ 3 () L p 3 L f h() L g L f h() P D 3. So the nonlinear feedback is gien by ) u Φ ( Φ ΦP η qr (D ω D ω D 3 ω 3 ). (9) The mai Φ is presented in the Appendi. Substituting this nonlinear feedback Eqn. (9) into Eqn. (8) we obtain a linear and decoupled input-output relationship ÿ ÿ ÿ ÿ3 ÿ 3. The input-output relationship is decoupled because each component of the reference input i conols one and only one component of the output y i. To complete the conoller design it is necessary to stabilize each of the aboe four subsystem with another constant feedback. Therefore the entire conoller for the mobile manipulator consists of nonlinear feedback Eqn. (7) and Eqn. (9) followed by a linear feedback. We hae used a PD computed-torque conol law. We look for a desired ajectory y d which gies ÿ ÿ d K ė K p e with the acking error defined as e y y d. For our simulations K and K p 6 were selected. Our algorithm requires the calculation of mai operations i.e. mai inerse. During the simulation we acked the condition number of the maices in order to maintain stability. We used alues of K and K p that are well behaed and asymptotically decay to a constant alue once the acking errors are diminished.. DISTURBANCE FORCES We are interested in disturbance forces that are position dependent. In this case we hae assumed that the disturbances are related to changes in the graitational forces on the system due to the motion of the mobile manipulator oer a uneen terrain. The uneen terrain is modeled as a surface function U(y). The surface must be known or the robot must be equipped with a sensor that can determine the orientation of the graity ector. The form of the terrain for the simulations in this paper is illusated in Fig. 3 and the ajectory used for the simulations projected onto the -y plane is indicated by the solid line. For clarity of presentation the robot is modeled as moing along a flat surface but subjected to a force field that would result from the uneen terrain. A unit normal can be calculated at each point on the surface (or sensed if the robot is there) using n U/ U n î n y ĵ n zˆk. This normal ector is used to project the force due to graity onto the XY -plane. The graitational forces are gien by W cart m w gˆk for the cart W link m gˆk and W link m gˆk for each link respectiely. The forces are obtained by using Upper iew Side iew r z ( ( ( y y n W cart n n W link n n W link n n y W cart ) ) ) n () n () n. () Normal plane Fig.. Modeling of the disturbance forces.. z -. - y 8 n Fig. 3. Disturbance forces on the mobile platform and the uneen terrain. Surface function U. sin(.) sin(.y).. SIMULATIONS This section presents simulation results illusating the effectieness of the conoller. In the simulation indiidual task ajectories for the mobile platform and arm are inestigated. The mobile platform is initially placed at the origin facing toward the positie w X-ais of the inertial frame. The initial head angle is zero φ(). Platform and manipulator parameter alues are gien in Table we hae used the alues used in Yamamoto and Yun 996. The entire system is assumed to be stationary at t. The initial alues are ( y θ r θ l θ θ θ r θ l θ θ ) (..7
5 Table. Parameters alues used for the simulation Parameters Values Units r.7 m b.7 m l. m l. m m kg m kg m c 9 kg m w kg I c 6.69 kg m I m.3 kg m I w. kg m d m 7 ). Indiidual task ajectories for mobile platform and arm are w e () 3 r (t) t w P e (t) w y r (t) e (t) y e () 3 t y e (t) m e () ( π ) m y e ().7sin t where ( e () y e ()) () and ( m e () m y e ()) (..). The location of the arm base on the mobile platform are gien by b.m and y b.m. The cart geomey and its center () are shown in Fig. the saight solid line represents the mobile platform ajectory and the sinusoidal solid line represents the ajectory of the endpoint of the manipulator. Platform and arm positions are shown at different times the total period of time for the simulation was 9 seconds. The ariations of the joint angles of the manipulator during time are shown in Fig.. The ariation of the heading angle of the platform during the simulation is shown in Fig. 6. The acking errors are shown in Fig. 7. We hae estimated the acking error as the difference of the obtained ajectory to the desired ajectory as e i (t) y i (t) y di (t) for i... Initially there are oscillations in the acking error but later are reduced to ery low alues as epected. The outputs are completely decoupled from the disturbance forces; hence the outputs do not change with the disturbances. The effect of force disturbance can be obsered in the torques required during the motion of the system. The disturbance forces has been implemented assuming a surface U. sin(.) cos(.y) and forces were calculated using the methodology discussed in Section. The disturbance force components on the mobile platform during time are shown in Fig. 8. The computed torques for conol are shown in Fig. 9. The disturbance force components on the arm links are shown in Fig.. The computed torques for conol are shown in Fig.. It can be obsered that the disturbances are satisfactorily managed by the linear conol applied to the linear inputoutput relationship. 6. CONCLUSIONS We hae presented the solution to the disturbance decoupling problem for a system with a manipulator mounted on a mobile w Y m 8 6 w Y m 3 w X m (a) Simulation w X m (b) Close-up iew Fig.. Motion of the mobile platform and arm during indiidual task ajectories. Solid saight line linear task ajectory; Solid sinusoidal line tip of the arm; P ; dashed square; mobile platform position. θ deg 3 θ θ t sec Fig.. Joint angles of the manipulator in time. φ deg tsec Fig. 6. Heading angle of the mobile platform in time. θ deg
6 e e e 3 e m e e 3 e t sec Fig. 7. Tracking errors. y N r t sec e y Fig. 8. Disturbance forces on the platform. τ τ N m t sec Fig. 9. Computed platform torques for the platform. N y y r r 6 6 y r r y t sec τ Fig.. Disturbance forces on the arm links. platform. The efficacy of the approach is illusated by imposing a force field on the system that would result from the mobile platform aersing uneen terrain. Future work will inole incorporating recent results of the authors related to the conol of mechanical systems and the notion of dynamic singularities Goodwine and Nightingale in order to etend these results to more complicated systems. Also a eperimental study τ τ r τ N m rτ rτ t sec Fig.. Computed arm joint torques. on a real mobile manipulator system will be made to implement our algorithm and enforce our results. ACKNOWLEDGEMENTS This material is based upon work supported by the U.S. Army TACOM Life Cycle Command under Conact No. W6HZV- 8-C-36 through a subconact with Mississippi State Uniersity and was performed for the Simulation Based Reliability and Safety (SimBRS) research program. REFERENCES D. P. Papadopoulos and P. N. Paraskeopoulos. Decoupling Techniques applied to the design of a conoller for an unregulated synchronous machine. General Transmission and Disibution IEE Proceedings C 3(6): H. Nijmeijer and A. Van Der Schaft. The disturbance decoupling problem for nonlinear conol systems. IEEE Transactions on Automatic Conol AC-8(): M. B. Esada and M. Malabre. Necessary and sufficient conditions for disturbance decoupling with stability using PID conol laws. IEEE Transactions on Automatic Conol (6):3 3. Z. Gao. Actie disturbance rejection conol: A paradigm shift in feedback conol system design. Proceedings of the American Conol Conference -6 June: A. Nikoobin and H. N. Rahimi. Analyzing the wheeled mobile manipulators with considering the kinematics and dynamics of the wheels. International Journal of Recent Trends in Engineering (): H. A. Zhu C. L. Teo G. S Hong and A. N. Poo. Motion conol of robotic manipulators with disturbance decoupling. Second IEEE Conol applications : M. W. Chen and A. M. S. Zalzala. Dynamic modeling and genetic based ajectory generation for non-holonomic mobile manipulators. Conol Engineering Practice (): C. Wang and V. Kumar. Velocity conol of mobile manipulators. Proceedings IEEE Int. Robotics and Automation : J. H. Chung and S. A. Velinsky. Modeling and conol of a mobile manipulator. Robotica 6: Y. Yamamoto and X. Yun. Effect of the dynamic interaction on coordinated conol of mobile manipulators. IEEE Transactions on robotics and automation ():
7 Y. Yamamoto and X. Yun. A modular approach to dynamic modeling of a class of mobile manipulators. International Journal of Robotics and Automation (): Mohammad Danesh Farid Sheikholeslam and Mehdi Keshmiri. Eternal force disturbance rejection in robotic arms: An adaptie approach. IEICE Trans. Fundamentals E88- A(): 3. Jagdish Joshi and Alan A. Desrochers. Modeling and conol of a mobile robot subject to disturbances. IEEE International Conference on Robotics and Automation : Alberto Isidori. Nonlinear Conol Systems. Springer. T. Yoshikawa. Foundations of Robotics: Analysis and conol. MIT Press 99. Bill Goodwine and Jason Nightingale. The Effect of Dynamic Singularities on Robotic Conol and Design. Proceedings of the IEEE International Conference on Robotics and Automation. APPENDIX Detailed epressions for all of the terms contained in the equations of motion for the system. q q q q 3 q T y θ r θ l T q r r q r q T θ θ T M r 3 m l 3 m l m l cosθ 3 m l m l cosθ 3 m l m l cosθ 3 l m C r ml θ sinθ m l θ θ sinθ m l θ sinθ C (i) m n n Th T T h j k hma(ik) r J h q i q j r q j r q k q k m n n Th T T h j k hi r J h q i q j q j q k q k (i R j) n Tk T T r k ki r J k q i i n j m q j T i T A A...A i i i...n cosθ sinθ l cosθ A sinθ cosθ l sinθ cosφ sinφ (l /)sinθ J J sinφ cosφ r (l /)cosθ cosθ sinθ l cosθ A sinθ cosθ l sinθ cosφ sinφ sinφ cosφ y T l sinθ J (l /)sin(θ θ ) (l /)sin(θ θ ) l cosθ (l /)cos(θ θ ) (l /)cos(θ θ ) (i M j) n Tk T T k k J k q i i j m q j (i R j) n Tk T T k k j J k q i r i m j n q j 3 m l m l J m l m 3 m l m l J m l m m m c cd sinφ m c cd sinφ M m m c cd cosφ m c cd cosφ m c cd sinφ m c cd cosφ Ic I w Ic m c cd sinφ m c cd cosφ Ic Ic I w m c d φ cosφ C m c d φ sinφ E C (i) n m n Th T T h j k h j J h q i r q j q k n n n Th T T h j k hma( jk) J h q i r q j r q k Φ Φ Φ Φ Φ Φ 33 Φ 3 Φ 3 Φ r q j q k r q j r q k Φ (cb l y c)cosφ l sinφ Φ (cb l y c)cosφ l sinφ Φ (cb l y c)sinφ l cosφ Φ (cb l y c)sinφ l cosφ Φ 33 l sinθ l sin(θ θ ) Φ 3 l sin(θ θ ) Φ 3 l cosθ l cos(θ θ ) Φ l cos(θ θ ).
UNDERSTAND MOTION IN ONE AND TWO DIMENSIONS
SUBAREA I. COMPETENCY 1.0 UNDERSTAND MOTION IN ONE AND TWO DIMENSIONS MECHANICS Skill 1.1 Calculating displacement, aerage elocity, instantaneous elocity, and acceleration in a gien frame of reference
More informationDesign and Control of Novel Tri-rotor UAV
Design and Control of Noel Tri-rotor UAV Mohamed Kara Mohamed School of Electrical and Electronic Engineering The Uniersity of Manchester Manchester, UK, M 9PL Email: Mohamed.KaraMohamed@postgrad.manchester.ac.uk
More informationPosition in the xy plane y position x position
Robust Control of an Underactuated Surface Vessel with Thruster Dynamics K. Y. Pettersen and O. Egeland Department of Engineering Cybernetics Norwegian Uniersity of Science and Technology N- Trondheim,
More informationTracking Control for Robot Manipulators with Kinematic and Dynamic Uncertainty
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 Seille, Spain, December 2-5, 2005 WeB3.3 Tracking Control for Robot Manipulators with Kinematic
More informationRealization of Hull Stability Control System for Continuous Track Vehicle with the Robot Arm
Adanced Science and Technology Letters Vol.86 (Ubiquitous Science and Engineering 05), pp.96-0 http://dx.doi.org/0.457/astl.05.86.0 Realization of Hull Stability Control System for Continuous Track Vehicle
More informationMotion in Two and Three Dimensions
PH 1-1D Spring 013 Motion in Two and Three Dimensions Lectures 5,6,7 Chapter 4 (Halliday/Resnick/Walker, Fundamentals of Physics 9 th edition) 1 Chapter 4 Motion in Two and Three Dimensions In this chapter
More informationDynamics ( 동역학 ) Ch.2 Motion of Translating Bodies (2.1 & 2.2)
Dynamics ( 동역학 ) Ch. Motion of Translating Bodies (. &.) Motion of Translating Bodies This chapter is usually referred to as Kinematics of Particles. Particles: In dynamics, a particle is a body without
More informationControlling the Apparent Inertia of Passive Human-Interactive Robots
1 Controlling the Apparent Inertia of Passie Human-Interactie Robots om Worsnopp Michael Peshkin Kein Lynch J. Edward Colgate Abstract Passie robotic deices may exhibit a spatially arying apparent inertia
More information1 Introduction. Control 2:
Introduction Kinematics of Wheeled Mobile Robots (No legs here. They ork like arms. We e seen arms already) For control purposes, the kinematics of heeled mobile robots (WMRs) that e care about are the
More informationThe hierarchical real-time control of high speed trains for automatic train operation
Computers in Railways XIV 17 The hierarchical real-time control of high speed trains for automatic train operation Q. Y. Wang, P. Wu, Z. C. Liang & X. Y. Feng Southwest Jiaotong Uniersity, China Abstract
More informationProbabilistic Engineering Design
Probabilistic Engineering Design Chapter One Introduction 1 Introduction This chapter discusses the basics of probabilistic engineering design. Its tutorial-style is designed to allow the reader to quickly
More informationReal-time Motion Control of a Nonholonomic Mobile Robot with Unknown Dynamics
Real-time Motion Control of a Nonholonomic Mobile Robot with Unknown Dynamics TIEMIN HU and SIMON X. YANG ARIS (Advanced Robotics & Intelligent Systems) Lab School of Engineering, University of Guelph
More informationThe single track model
The single track model Dr. M. Gerdts Uniersität Bayreuth, SS 2003 Contents 1 Single track model 1 1.1 Geometry.................................... 1 1.2 Computation of slip angles...........................
More informationAn Introduction to Three-Dimensional, Rigid Body Dynamics. James W. Kamman, PhD. Volume II: Kinetics. Unit 3
Summary An Introduction to hree-dimensional, igid ody Dynamics James W. Kamman, PhD Volume II: Kinetics Unit Degrees of Freedom, Partial Velocities and Generalized Forces his unit defines the concepts
More informationAlternative non-linear predictive control under constraints applied to a two-wheeled nonholonomic mobile robot
Alternatie non-linear predictie control under constraints applied to a to-heeled nonholonomic mobile robot Gaspar Fontineli Dantas Júnior *, João Ricardo Taares Gadelha *, Carlor Eduardo Trabuco Dórea
More informationLinear Momentum and Collisions Conservation of linear momentum
Unit 4 Linear omentum and Collisions 4.. Conseration of linear momentum 4. Collisions 4.3 Impulse 4.4 Coefficient of restitution (e) 4.. Conseration of linear momentum m m u u m = u = u m Before Collision
More informationChapter 3 Numerical Methods
Chapter 3 Numerical Methods Part 3 3.4 Differential Algebraic Systems 3.5 Integration of Differential Equations 1 Outline 3.4 Differential Algebraic Systems 3.4.1 Constrained Dynamics 3.4.2 First and Second
More information0 a 3 a 2 a 3 0 a 1 a 2 a 1 0
Chapter Flow kinematics Vector and tensor formulae This introductory section presents a brief account of different definitions of ector and tensor analysis that will be used in the following chapters.
More informationMOTION OF FALLING OBJECTS WITH RESISTANCE
DOING PHYSICS WIH MALAB MECHANICS MOION OF FALLING OBJECS WIH RESISANCE Ian Cooper School of Physics, Uniersity of Sydney ian.cooper@sydney.edu.au DOWNLOAD DIRECORY FOR MALAB SCRIPS mec_fr_mg_b.m Computation
More informationF = q v B. F = q E + q v B. = q v B F B. F = q vbsinφ. Right Hand Rule. Lorentz. The Magnetic Force. More on Magnetic Force DEMO: 6B-02.
Lorentz = q E + q Right Hand Rule Direction of is perpendicular to plane containing &. If q is positie, has the same sign as x. If q is negatie, has the opposite sign of x. = q = q sinφ is neer parallel
More informationGeostrophy & Thermal wind
Lecture 10 Geostrophy & Thermal wind 10.1 f and β planes These are planes that are tangent to the earth (taken to be spherical) at a point of interest. The z ais is perpendicular to the plane (anti-parallel
More informationFeb 6, 2013 PHYSICS I Lecture 5
95.141 Feb 6, 213 PHYSICS I Lecture 5 Course website: faculty.uml.edu/pchowdhury/95.141/ www.masteringphysics.com Course: UML95141SPRING213 Lecture Capture h"p://echo36.uml.edu/chowdhury213/physics1spring.html
More informationLABORATORY VI. ROTATIONAL DYNAMICS
LABORATORY VI. ROTATIONAL DYNAMICS So far this semester, you hae been asked to think of objects as point particles rather than extended bodies. This assumption is useful and sometimes good enough. Howeer,
More informationVISUAL PHYSICS ONLINE RECTLINEAR MOTION: UNIFORM ACCELERATION
VISUAL PHYSICS ONLINE RECTLINEAR MOTION: UNIFORM ACCELERATION Predict Obsere Explain Exercise 1 Take an A4 sheet of paper and a heay object (cricket ball, basketball, brick, book, etc). Predict what will
More informationTrajectory Estimation for Tactical Ballistic Missiles in Terminal Phase Using On-line Input Estimator
Proc. Natl. Sci. Counc. ROC(A) Vol. 23, No. 5, 1999. pp. 644-653 Trajectory Estimation for Tactical Ballistic Missiles in Terminal Phase Using On-line Input Estimator SOU-CHEN LEE, YU-CHAO HUANG, AND CHENG-YU
More informationPHYS 1443 Section 004 Lecture #4 Thursday, Sept. 4, 2014
PHYS 1443 Section 004 Lecture #4 Thursday, Sept. 4, 014 One Dimensional Motion Motion under constant acceleration One dimensional Kinematic Equations How do we sole kinematic problems? Falling motions
More informationNonlinear Trajectory Tracking for Fixed Wing UAVs via Backstepping and Parameter Adaptation. Wei Ren
AIAA Guidance, Naigation, and Control Conference and Exhibit 5-8 August 25, San Francisco, California AIAA 25-696 Nonlinear Trajectory Tracking for Fixed Wing UAVs ia Backstepping and Parameter Adaptation
More informationCases of integrability corresponding to the motion of a pendulum on the two-dimensional plane
Cases of integrability corresponding to the motion of a pendulum on the two-dimensional plane MAXIM V. SHAMOLIN Lomonoso Moscow State Uniersity Institute of Mechanics Michurinskii Ae.,, 99 Moscow RUSSIAN
More informationNonholonomic Constraints Examples
Nonholonomic Constraints Examples Basilio Bona DAUIN Politecnico di Torino July 2009 B. Bona (DAUIN) Examples July 2009 1 / 34 Example 1 Given q T = [ x y ] T check that the constraint φ(q) = (2x + siny
More informationA. unchanged increased B. unchanged unchanged C. increased increased D. increased unchanged
IB PHYSICS Name: DEVIL PHYSICS Period: Date: BADDEST CLASS ON CAMPUS CHAPTER B TEST REVIEW. A rocket is fired ertically. At its highest point, it explodes. Which one of the following describes what happens
More informationStatus: Unit 2, Chapter 3
1 Status: Unit, Chapter 3 Vectors and Scalars Addition of Vectors Graphical Methods Subtraction of Vectors, and Multiplication by a Scalar Adding Vectors by Components Unit Vectors Vector Kinematics Projectile
More informationNoise constrained least mean absolute third algorithm
Noise constrained least mean absolute third algorithm Sihai GUAN 1 Zhi LI 1 Abstract: he learning speed of an adaptie algorithm can be improed by properly constraining the cost function of the adaptie
More informationCase Study: The Pelican Prototype Robot
5 Case Study: The Pelican Prototype Robot The purpose of this chapter is twofold: first, to present in detail the model of the experimental robot arm of the Robotics lab. from the CICESE Research Center,
More informationChapter 11 Collision Theory
Chapter Collision Theory Introduction. Center o Mass Reerence Frame Consider two particles o masses m and m interacting ia some orce. Figure. Center o Mass o a system o two interacting particles Choose
More informationPROBLEM Copyright McGraw-Hill Education. Permission required for reproduction or display. SOLUTION. ω = 29.6 rad/s. ω = = 36 3.
PROLEM 15.1 The brake drum is attached to a larger flywheel that is not shown. The motion of the brake drum is defined by the relation θ = 36t 1.6 t, where θ is expressed in radians and t in seconds. Determine
More informationMotion in Two and Three Dimensions
PH 1-A Fall 014 Motion in Two and Three Dimensions Lectures 4,5 Chapter 4 (Halliday/Resnick/Walker, Fundamentals of Physics 9 th edition) 1 Chapter 4 Motion in Two and Three Dimensions In this chapter
More informationStatement: This paper will also be published during the 2017 AUTOREG conference.
Model Predictie Control for Autonomous Lateral Vehicle Guidance M. Sc. Jochen Prof. Dr.-Ing. Steffen Müller TU Berlin, Institute of Automotie Engineering Germany Statement: This paper will also be published
More informationSection 6: PRISMATIC BEAMS. Beam Theory
Beam Theory There are two types of beam theory aailable to craft beam element formulations from. They are Bernoulli-Euler beam theory Timoshenko beam theory One learns the details of Bernoulli-Euler beam
More informationCONTROL OF THE NONHOLONOMIC INTEGRATOR
June 6, 25 CONTROL OF THE NONHOLONOMIC INTEGRATOR R. N. Banavar (Work done with V. Sankaranarayanan) Systems & Control Engg. Indian Institute of Technology, Bombay Mumbai -INDIA. banavar@iitb.ac.in Outline
More informationReversal in time order of interactive events: Collision of inclined rods
Reersal in time order of interactie eents: Collision of inclined rods Published in The European Journal of Physics Eur. J. Phys. 27 819-824 http://www.iop.org/ej/abstract/0143-0807/27/4/013 Chandru Iyer
More information(a) Taking the derivative of the position vector with respect to time, we have, in SI units (m/s),
Chapter 4 Student Solutions Manual. We apply Eq. 4- and Eq. 4-6. (a) Taking the deriatie of the position ector with respect to time, we hae, in SI units (m/s), d ˆ = (i + 4t ˆj + tk) ˆ = 8tˆj + k ˆ. dt
More information21.60 Worksheet 8 - preparation problems - question 1:
Dynamics 190 1.60 Worksheet 8 - preparation problems - question 1: A particle of mass m moes under the influence of a conseratie central force F (r) =g(r)r where r = xˆx + yŷ + zẑ and r = x + y + z. A.
More informationState-space Modelling of Hysteresis-based Control Schemes
European Control Conference (ECC) July 7-9,, Zürich, Switzerland. State-space Modelling of Hysteresis-based Control Schemes Soumya Kundu Ian A. Hiskens Abstract The paper deelops a state-space model for
More informationA Comparative Study of Vision-Based Lateral Control Strategies for Autonomous Highway Driving
A Comparatie Study of Vision-Based ateral Control Strategies for Autonomous Highway Driing J. Košecká, R. Blasi, C. J. Taylor and J. Malik Department of Electrical Engineering and Computer Sciences Uniersity
More informationENGINEERING COUNCIL DYNAMICS OF MECHANICAL SYSTEMS D225 TUTORIAL 3 CENTRIPETAL FORCE
ENGINEERING COUNCIL DYNAMICS OF MECHANICAL SYSTEMS D5 TUTORIAL CENTRIPETAL FORCE This tutorial examines the relationship between inertia and acceleration. On completion of this tutorial you should be able
More informationPhysics 4A Solutions to Chapter 4 Homework
Physics 4A Solutions to Chapter 4 Homework Chapter 4 Questions: 4, 1, 1 Exercises & Problems: 5, 11, 3, 7, 8, 58, 67, 77, 87, 11 Answers to Questions: Q 4-4 (a) all tie (b) 1 and tie (the rocket is shot
More informationIII. Relative Velocity
Adanced Kinematics I. Vector addition/subtraction II. Components III. Relatie Velocity IV. Projectile Motion V. Use of Calculus (nonuniform acceleration) VI. Parametric Equations The student will be able
More informationFrames of Reference, Energy and Momentum, with
Frames of Reference, Energy and Momentum, with Interactie Physics Purpose: In this lab we will use the Interactie Physics program to simulate elastic collisions in one and two dimensions, and with a ballistic
More informationRobust Control of Cooperative Underactuated Manipulators
Robust Control of Cooperative Underactuated Manipulators Marcel Bergerman * Yangsheng Xu +,** Yun-Hui Liu ** * Automation Institute Informatics Technology Center Campinas SP Brazil + The Robotics Institute
More informationPOSITION CONTROL OF AN INTERIOR PERMANENT MAGNET SYNCHRONOUS MOTOR BY USING ADAPTIVE BACK STEPPING ALGORITHM
Research and Applications (IJERA) ISSN: 2248-9622 www.ijera.com Vol. 2, Issue 3, May-Jun 212, pp.27-276 POSITION CONTROL OF AN INTERIOR PERMANENT MAGNET SYNCHRONOUS MOTOR BY USING ADAPTIVE BACK STEPPING
More informationKinematics on oblique axes
Bolina 1 Kinematics on oblique axes arxi:physics/01111951 [physics.ed-ph] 27 No 2001 Oscar Bolina Departamento de Física-Matemática Uniersidade de São Paulo Caixa Postal 66318 São Paulo 05315-970 Brasil
More informationA Geometric Review of Linear Algebra
A Geometric Reiew of Linear Algebra The following is a compact reiew of the primary concepts of linear algebra. The order of presentation is unconentional, with emphasis on geometric intuition rather than
More informationResearch on the Laser Doppler Torque Sensor
Journal of Physics: Conference Series Research on the Laser Doppler Torque Sensor To cite this article: Z Meng and B Liu 006 J. Phys.: Conf. Ser. 48 0 Recent citations - Optical control of the radius of
More informationLast Time: Start Rotational Motion (now thru mid Nov) Basics: Angular Speed, Angular Acceleration
Last Time: Start Rotational Motion (now thru mid No) Basics: Angular Speed, Angular Acceleration Today: Reiew, Centripetal Acceleration, Newtonian Graitation i HW #6 due Tuesday, Oct 19, 11:59 p.m. Exam
More informationDEVIL PHYSICS THE BADDEST CLASS ON CAMPUS AP PHYSICS
DEVIL PHYSICS THE BADDEST CLASS ON CAMPUS AP PHYSICS LSN 3-7: PROJECTILE MOTION IS PARABOLIC LSN 3-8: RELATIVE VELOCITY Questions From Reading Actiity? Big Idea(s): The interactions of an object with other
More informationA Sliding Mode Control based on Nonlinear Disturbance Observer for the Mobile Manipulator
International Core Journal of Engineering Vol.3 No.6 7 ISSN: 44-895 A Sliding Mode Control based on Nonlinear Disturbance Observer for the Mobile Manipulator Yanna Si Information Engineering College Henan
More informationChapter 1: Kinematics of Particles
Chapter 1: Kinematics of Particles 1.1 INTRODUCTION Mechanics the state of rest of motion of bodies subjected to the action of forces Static equilibrium of a body that is either at rest or moes with constant
More informationCollective circular motion of multi-vehicle systems with sensory limitations
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 Seille, Spain, December 12-15, 2005 MoB032 Collectie circular motion of multi-ehicle systems with
More informationA Guidance Law for a Mobile Robot for Coverage Applications: A Limited Information Approach
Proceedings of the Third International Conference on Adances in Control and Optimization of Dynamical Systems, Indian Institute of Technology anpur, India, March 1-15, 014 Frcsh1.6 A Guidance Law for a
More informationFOCUS ON CONCEPTS Section 7.1 The Impulse Momentum Theorem
WEEK-6 Recitation PHYS 3 FOCUS ON CONCEPTS Section 7. The Impulse Momentum Theorem Mar, 08. Two identical cars are traeling at the same speed. One is heading due east and the other due north, as the drawing
More informationA Geometric Review of Linear Algebra
A Geometric Reiew of Linear Algebra The following is a compact reiew of the primary concepts of linear algebra. I assume the reader is familiar with basic (i.e., high school) algebra and trigonometry.
More informationTrajectory-tracking control of a planar 3-RRR parallel manipulator
Trajectory-tracking control of a planar 3-RRR parallel manipulator Chaman Nasa and Sandipan Bandyopadhyay Department of Engineering Design Indian Institute of Technology Madras Chennai, India Abstract
More informationSpace Probe and Relative Motion of Orbiting Bodies
Space robe and Relatie Motion of Orbiting Bodies Eugene I. Butiko Saint etersburg State Uniersity, Saint etersburg, Russia E-mail: e.butiko@phys.spbu.ru bstract. Seeral possibilities to launch a space
More informationEquivalence of Multi-Formulated Optimal Slip Control for Vehicular Anti-Lock Braking System
Preprints of the 19th World Congress The International Federation of Automatic Control Cape Town, South Africa. August 24-29, 214 Equialence of Multi-Formulated Optimal Slip Control for Vehicular Anti-Lock
More informationAn example of Lagrangian for a non-holonomic system
Uniersit of North Georgia Nighthaks Open Institutional Repositor Facult Publications Department of Mathematics 9-9-05 An eample of Lagrangian for a non-holonomic sstem Piotr W. Hebda Uniersit of North
More informationKinematics for a Three Wheeled Mobile Robot
Kinematics for a Three Wheeled Mobile Robot Randal W. Beard Updated: March 13, 214 1 Reference Frames and 2D Rotations î 1 y î 2 y w 1 y w w 2 y î 2 x w 2 x w 1 x î 1 x Figure 1: The vector w can be expressed
More informationDoppler shifts in astronomy
7.4 Doppler shift 253 Diide the transformation (3.4) by as follows: = g 1 bck. (Lorentz transformation) (7.43) Eliminate in the right-hand term with (41) and then inoke (42) to yield = g (1 b cos u). (7.44)
More informationFrequency Response Improvement in Microgrid Using Optimized VSG Control
Frequency Response Improement in Microgrid Using Optimized SG Control B. Rathore, S. Chakrabarti, Senior Member, IEEE, S. Anand, Member, IEEE, Department of Electrical Engineering Indian Institute of Technology
More informationAdaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties
Australian Journal of Basic and Applied Sciences, 3(1): 308-322, 2009 ISSN 1991-8178 Adaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties M.R.Soltanpour, M.M.Fateh
More informationPhysics 2A Chapter 3 - Motion in Two Dimensions Fall 2017
These notes are seen pages. A quick summary: Projectile motion is simply horizontal motion at constant elocity with ertical motion at constant acceleration. An object moing in a circular path experiences
More informationGeneral Lorentz Boost Transformations, Acting on Some Important Physical Quantities
General Lorentz Boost Transformations, Acting on Some Important Physical Quantities We are interested in transforming measurements made in a reference frame O into measurements of the same quantities as
More informationSIMULATIONS OF CHARACTERISTICS OF TUNED LIQUID COLUMN DAMPER USING AN ELLIPTICAL FLOW PATH ESTIMATION METHOD
October -7, 008, Beijing, China SIMULATIONS OF CHARACTERISTICS OF TUNED LIQUID COLUMN DAMPER USING AN ELLIPTICAL FLOW PATH ESTIMATION METHOD P. Chaiiriyawong, S. Limkatanyu and T. Pinkaew 3 Lecturer, Dept.
More informationA Characterization of Acceleration Capability. Alan Bowling and Oussama Khatib. Robotics Laboratory. Stanford University. Stanford, CA, USA 94305
The Motion Isotropy Hypersurface: A Characterization of Acceleration Capability Alan Bowling and Oussama Khatib Robotics Laboratory Computer Science Department Stanford Uniersity Stanford, CA, USA 9405
More informationCollective circular motion of multi-vehicle systems with sensory limitations
Collectie circular motion of multi-ehicle systems with sensory limitations Nicola Ceccarelli, Mauro Di Marco, Andrea Garulli, Antonello Giannitrapani Dipartimento di Ingegneria dell Informazione Uniersità
More informationLesson 2: Kinematics (Sections ) Chapter 2 Motion Along a Line
Lesson : Kinematics (Sections.-.5) Chapter Motion Along a Line In order to specify a position, it is necessary to choose an origin. We talk about the football field is 00 yards from goal line to goal line,
More informationResidual migration in VTI media using anisotropy continuation
Stanford Exploration Project, Report SERGEY, Noember 9, 2000, pages 671?? Residual migration in VTI media using anisotropy continuation Tariq Alkhalifah Sergey Fomel 1 ABSTRACT We introduce anisotropy
More information4 Fundamentals of Continuum Thermomechanics
4 Fundamentals of Continuum Thermomechanics In this Chapter, the laws of thermodynamics are reiewed and formulated for a continuum. The classical theory of thermodynamics, which is concerned with simple
More informationHydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle
Sensors & Transducers 2014 by IFSA Publishing, S. L. http://.sensorsportal.com Hydrodynamic Coefficients Identification and Experimental Inestigation for an Underater Vehicle 1 Shaorong XIE, 1 Qingmei
More informationGeneralized d-q Model of n-phase Induction Motor Drive
Generalized d-q Model of n-phase Induction Motor Drie G. Renukadei, K. Rajambal Abstract This paper presents a generalized d-q model of n- phase induction motor drie. Multi -phase (n-phase) induction motor
More informationDIFFERENTIAL DRAG SPACECRAFT RENDEZVOUS USING AN ADAPTIVE LYAPUNOV CONTROL STRATEGY
(Preprint) IAA-AAS-DyCoSS1-XX-XX DIFFERENIAL DRAG SPACECRAF RENDEZVOUS USING AN ADAPIVE LYAPUNOV CONROL SRAEGY Daid Pérez * and Riccardo Beilacqua I. INRODUCION his paper introduces a noel Lyapuno-based
More informationN10/4/PHYSI/SPM/ENG/TZ0/XX PHYSICS STANDARD LEVEL PAPER 1. Monday 8 November 2010 (afternoon) 45 minutes INSTRUCTIONS TO CANDIDATES
N1/4/PHYSI/SPM/ENG/TZ/XX 881654 PHYSICS STANDARD LEVEL PAPER 1 Monday 8 Noember 21 (afternoon) 45 minutes INSTRUCTIONS TO CANDIDATES Do not open this examination paper until instructed to do so. Answer
More informationThe Dot Product Pg. 377 # 6ace, 7bdf, 9, 11, 14 Pg. 385 # 2, 3, 4, 6bd, 7, 9b, 10, 14 Sept. 25
UNIT 2 - APPLICATIONS OF VECTORS Date Lesson TOPIC Homework Sept. 19 2.1 (11) 7.1 Vectors as Forces Pg. 362 # 2, 5a, 6, 8, 10 13, 16, 17 Sept. 21 2.2 (12) 7.2 Velocity as Vectors Pg. 369 # 2,3, 4, 6, 7,
More informationNonlinear Lateral Control of Vision Driven Autonomous Vehicles*
Paper Machine Intelligence & Robotic Control, Vol. 5, No. 3, 87 93 (2003) Nonlinear ateral Control of Vision Drien Autonomous Vehicles* Miguel Ángel Sotelo Abstract: This paper presents the results of
More informationDrive train. Steering System. Figure 1 Vehicle modeled by subsystems
Proceedings of the XII International Symposium on Dynamic Problems of Mechanics (DINAME 7), P.S.Varoto and M.A.Trindade (editors), ABCM, Ilhabela, SP, Brazil, February 6 - March, 7 Wheel Dynamics Georg
More informationModelling and Simulation of a Wheeled Mobile Robot in Configuration Classical Tricycle
Modelling and Simulation of a Wheeled Mobile Robot in Configuration Classical Tricycle ISEA BONIA, FERNANDO REYES & MARCO MENDOZA Grupo de Robótica, Facultad de Ciencias de la Electrónica Benemérita Universidad
More informationLine following of a mobile robot
Line following of a mobile robot May 18, 004 1 In brief... The project is about controlling a differential steering mobile robot so that it follows a specified track. Steering is achieved by setting different
More informationThree-dimensional Guidance Law for Formation Flight of UAV
ICCAS25 Three-dimensional Guidance aw for Formation Flight of UAV Byoung-Mun Min * and Min-Jea Tahk ** * Department of Aerospace Engineering KAIST Daejeon Korea (Tel : 82-42-869-3789; E-mail: bmmin@fdcl.kaist.ac.kr)
More information3. What is the minimum work needed to push a 950-kg car 310 m up along a 9.0 incline? Ignore friction. Make sure you draw a free body diagram!
Wor Problems Wor and Energy HW#. How much wor is done by the graitational force when a 280-g pile drier falls 2.80 m? W G = G d cos θ W = (mg)d cos θ W = (280)(9.8)(2.80) cos(0) W = 7683.2 W 7.7 0 3 Mr.
More informationProblem Set 1: Solutions
Uniersity of Alabama Department of Physics and Astronomy PH 253 / LeClair Fall 2010 Problem Set 1: Solutions 1. A classic paradox inoling length contraction and the relatiity of simultaneity is as follows:
More informationNotes on Linear Minimum Mean Square Error Estimators
Notes on Linear Minimum Mean Square Error Estimators Ça gatay Candan January, 0 Abstract Some connections between linear minimum mean square error estimators, maximum output SNR filters and the least square
More informationPurpose of the experiment
Centripetal Force PES 116 Adanced Physics Lab I Purpose of the experiment Determine the dependence of mass, radius and angular elocity on Centripetal force. FYI FYI Hershey s Kisses are called that because
More informationCentripetal force. Objectives. Assessment. Assessment. Equations. Physics terms 5/13/14
Centripetal force Objecties Describe and analyze the motion of objects moing in circular motion. Apply Newton s second law to circular motion problems. Interpret free-body force diagrams. 1. A race car
More informationMathisson s New Mechanics : Its Aims and Realisation. W G Dixon, Churchill College, Cambridge, England
Lecture : ims Mathisson s New Mechanics : Its ims Realisation W G Dixon, Churchill College, Cambridge, Engl It gies me great pleasure to be inited to speak at this meeting on the life work of Myron Mathisson
More informationVariational Calculus & Variational Principles In Physics
Variational Calculus & Variational Principles In Physics Michael A. Carchidi Noember 3, 9 1. A Typical Problem In The Calculus Let R be the set of real numbers and let f : R R be a differentiable function
More informationAnalytical Dynamics - Graduate Center CUNY - Fall 2007 Professor Dmitry Garanin. Dynamical Chaos. December 7, 2008
Analytical Dynamics - Graduate Center CUNY - Fall 007 Professor Dmitry Garanin Dynamical Chaos December 7, 008 Progress in computing lead to the discoery of apparently chaotic behaior of systems with few
More informationAdvanced Robotic Manipulation
Advanced Robotic Manipulation Handout CS37A (Spring 017 Solution Set # Problem 1 - Redundant robot control The goal of this problem is to familiarize you with the control of a robot that is redundant with
More informationSimulations of Space Probes and their Motions Relative to the Host Orbital Station
Simulations of Space robes and their Motions Relatie to the Host Orbital Station Eugene I. Butiko St. etersburg State Uniersity, St. etersburg, Russia Abstract Launching a space probe from an orbiting
More informationUniversity of Babylon College of Engineering Mechanical Engineering Dept. Subject : Mathematics III Class : 2 nd First Semester Year :
Uniersity of Babylon College of Engineering Mechanical Engineering Dept. Subject : Mathematics III Class : nd First Semester Year : 16-17 VECTOR FUNCTIONS SECTION 13. Ideal Projectile Motion Ideal Projectile
More informationPhysics 1: Mechanics
Physics 1: Mechanics Đào Ngọc Hạnh Tâm Office: A1.53, Email: dnhtam@hcmiu.edu.n HCMIU, Vietnam National Uniersity Acknowledgment: Most of these slides are supported by Prof. Phan Bao Ngoc credits (3 teaching
More informationThe number of marks is given in brackets [ ] at the end of each question or part question. The total number of marks for this paper is 72.
ADVANCED GCE UNIT 76/ MATHEMATICS (MEI Mechanics MONDAY MAY 7 Additional materials: Answer booklet (8 pages Graph paper MEI Examination Formulae and Tables (MF Morning Time: hour minutes INSTRUCTIONS TO
More information