Closed-Loop Systems

  • Suril Vijaykumar Shah
  • Subir Kumar Saha
  • Jayanta Kumar Dutt
Chapter
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 62)

Abstract

Closed-loops are inherent in many practical robotic systems. In this chapter, analyses of closed-loop systems are presented using the dynamic formulation given in Chaps. 5,6 and 7.

Keywords

Joint Angle Dynamic Formulation Inverse Dynamic Constraint Force Joint Variable 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. Chaudhary, H., & Saha, S. K. (2007). Constraint wrench formulation for closed-loop systems using Two-level recursions. ASME Journal of Mechanical Design, 129, 1234–1242.CrossRefGoogle Scholar
  2. Chaudhary, H., & Saha, S. K. (2009). Dynamics and balancing of multibody systems. Berlin: Springer.MATHCrossRefGoogle Scholar
  3. Deo, N. (1974). Graph theory with application in engineering and computer science. Englewood Cliffs: Prentice-Hall.Google Scholar
  4. Nikravesh, P. E. (1988). Computer-aided analysis of mechanical systems. Englewood Cliffs: Prentice-Hall.Google Scholar
  5. Ottaviano, E., Ceccarelli, M., & Tavolieri, C. (2004). Kinematic and dynamic analyses of a pantograph-leg for a biped walking machine. International conference on climbing and walking robots CLAWAR, Madrid.Google Scholar
  6. Saha, S. K. (2003). Simulation of industrial manipulators based on the UDUT decomposition of inertia matrix. International Journal of Multibody System Dynamics, 9(1), 63–85.MATHCrossRefGoogle Scholar
  7. Shabana, A. A. (2001). Computational dynamics. New York: Wiley.MATHGoogle Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • Suril Vijaykumar Shah
    • 1
  • Subir Kumar Saha
    • 2
  • Jayanta Kumar Dutt
    • 2
  1. 1.McGill UniversityMontrealCanada
  2. 2.Department of Mechanical EngineeringIIT DelhiNew DelhiIndia

Personalised recommendations