Inverse dynamics
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Recent papers in Inverse dynamics
The current, system-specific countermeasures to space deconditioning have limited success with the musculoskeletal system in long duration missions. Artificial gravity (AG) that is produced by short radius centrifugation has been... more
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of... more
The context of this PhD thesis is the modelling and design of mechatronic systems. The study is positioned in the early design stage of the conception cycle (V-Cycle), where the main efforts have to be produced in terms of methodology, to... more
This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the... more
Constrained multibody systems typically feature multiple closed kinematic loops that constrain the relative motions and forces within the system. Typically, such systems possess far more articulated degrees-of-freedom (within the chains)... more
This paper presents the modeling, identification and control of the 7 degrees of freedom (DoFs) Mitsubishi PA-10 robot arm. The backdrivability, high accuracy positioning capabilities and zero backlash afforded by its harmonic drive... more
In this article the results of the application of a flexible structure artificial neural network for controlling the angular velocity of a servo-hydraulic rotary actuator are discussed. A mathematical model for the system is derived, and... more
SUMMARY In this paper, a novel algorithm is formulated and implemented for optimum path planning of parallel manipulators. A multi-objective optimisation problem has been formulated for an efficient numerical solution procedure through... more
Body segment inertial parameters (BSIPs) are important data in biomechanics. They are usually estimated from predictive equations reported in the literature. However, most of the predictive equations are ambiguously applicable in the... more
Link segment models are extremely useful for increasing the comprehension of joint overload. The aim of the present study was to analyze proximal joint reaction forces and moments during different movements performed with and without... more