On the use of structural formulae of kinematic chains.
Oscillateur harmonique et opérateurs pseudodifférentiels
On donne des conditions larges sur un champ de normes symplectiques sur pour que les opérateurs d’ordre zéro associés opèrent sur ; les éléments de cet espace se laissent alors écrire comme somme d’états propres, de niveau d’énergie bornée, de la famille d’oscillateurs harmoniques associée.
Proof of the transposition of finite rotations
Quantitative Steinitz's Theorems with Applications to Multifingered Grasping.
Relativistische Mechanik mit klassicher Geometrie und Kinematik.
Résolution vectorielle de l'équation fonctionnelle des applications équiprojectives de ...3 dans ...3 (champ de vitesse d'un solide).
Rotating shells in general relativity
Special motions of robot-manipulators
There exist many examples of closed kinematical chains which have a freedom of motion, but there are very few systematical results in this direction. This paper is devoted to the systematical treatment of 4-parametric closed kinematical chains and we show that the so called Bennet’s mechanism is essentially the only 4-parametric closed kinematical chain which has the freedom of motion. According to [3] this question is connected with the problem of existence of asymptotic geodesic lines on robot-manipulators...
Starre, kippende, wackelige und bewegliche Gelenkvierecke im Raum.
Stochastic Behaviour of a Robot-Safety Device System
Sul vettore caratteristico della rotazione nei moti rigidi
Symmetric Laman theorems for the groups and .
Synthesis of optimal trajectory of industrial robots
The dynamics of the drum mower blade
The drum mower blade is freely rotatable around the fastening pin. During the operation of the mower, the centrifugal force and the resistance of the mowing material act on it. The presented article studies the effect of these forces on the behavior of the blade, in particular its oscillation around the steady state, depending on the properties of the cut material.
The geometry of Newton's law and rigid systems
We start by formulating geometrically the Newton’s law for a classical free particle in terms of Riemannian geometry, as pattern for subsequent developments. For constrained systems we have intrinsic and extrinsic viewpoints, with respect to the environmental space. Multi–particle systems are modelled on -th products of the pattern model. We apply the above scheme to discrete rigid systems. We study the splitting of the tangent and cotangent environmental space into the three components of center...
The “octoid” with triple planar symmetry and its point orbits. (Das dreifach plansymmetrische "Oktoid" und seine Punktbahnen.)
The relative deformation theory of representations and flat connections and deformations of linkages in constant curvature spaces
The single screw reciprocal to the general plane-symmetric six-screw linkage.
Three-parametric robot manipulators with parallel rotational axes
The paper deals with asymptotic motions of 3-parametric robot manipulators with parallel rotational axes. To describe them we use the theory of Lie groups and Lie algebras. An example of such motions are motions with the zero Coriolis accelerations. We will show that there are asymptotic motions with nonzero Coriolis accelerations. We introduce the notions of the Klein subspace, the Coriolis subspace and show their relation to asymptotic motions of robot manipulators. The asymptotic motions are...
Two observer-based tracking algorithms for a unicycle mobile robot
A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.