Dynamics motion simulation of the Hermes robot arm subjected to constraints

During operations with a manipulator arm situations will occur when the manipulator end-effector is, or comes, in contact with its environment. The dynamics equations, which describe the motion of the manipulator, can be represented by an ordinary differential equation for the free motion and an additional algebraic (in)equality for the motion...

Modelling dynamical systems with equality state-space constraints

A mathematical theory for modelling dynamical systems with equality state-space constraints is presented. The dynamic behaviour of these systems is represented by a combination of differential and algebraic equations. It Is shown that the freedom offered by control is essential to obtain other, mathematically equivalent formulations. The notion...