Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner
over complex terrain, a feat that has yet to be equaled by man-made legged robots.
Recent experimental results suggest that these insects may employ a hierarchical
control structure, in which locomotion performance emerges from a combination of...
Several standardized courses for Formula SAE (FSAE) testing are introduced and described with sufficient detail to be reproduced by any Formula SAE team. Basic analysis methods for the courses are given as well as explanations of how those analyses could be used. On-car data from the Global Formula Racing (GFR)...
To design and precisely control a manipulator requires
developing an efficient dynamic model of the system. The
present work demonstrates how this can be accomplished by
employing Kane's dynamical equations. First, a detailed
manual derivation of the equations of motion for a
particular robot is presented in such way that...
The development of modern industries calls for the
robotic manipulators with high speed and accurate tracking
performance. Many authors have paid attention to robust
control of robotic manipulators; however, only few authors
have also considered the control problem of manipulators
with power limitation.
In this dissertation, the robotic manipulator is...
The compressive behavior of continuous fiber composites is not as well
understood as their tensile behavior because research and industrial applications have until
recently focused on the latter. Furthermore, most theoretical and experimental studies on
the compression of composites have examined the case of unidirectional specimens with
fibers along the...
Thousands of children and adults suffer from fine motor skill deficits due to developmental disabilities or brain trauma. In order to acquire or reclaim these precision motor movements, occupational therapists work closely with each patient to develop the muscle memory required for completing tasks such as handwriting or drawing. Although...
Manufacturing technology has continuously evolved and advanced over the past century; this has led to an increase in the production of consumer and industrial goods driven by simultaneous growth in population and wealth. Despite the resulting economic and labor growth, environmental impacts of manufacturing have increased dramatically due to the...
Prototyping is a crucial step in product design and development, but it is also known as the highest sunk cost. The top 20 Research and Development (R&D) department spends 142 billion dollars, yet 40 to 46 percent of this money goes into developing products that cannot even make to the...
In this dissertation a direct approach to discrete-time
model reference adaptive control (MRAC) based on
hyperstability theory is proposed to control industrial
robotic manipulators.
For industrial robots and manipulators, which usually have
highly nonlinear and complex dynamic equations and often
have unknown inertia characteristics, it is very difficult
to achieve...