In this paper the Lie-form invariance of the non-holonomic systems with unilateral constraints is studied. The definition and the criterion of the Lie-form invariance of the system are given. The generalized Hojman co...In this paper the Lie-form invariance of the non-holonomic systems with unilateral constraints is studied. The definition and the criterion of the Lie-form invariance of the system are given. The generalized Hojman conserved quantity and a new type of conserved quantity deduced from the Lie-form invariance are obtained. Finally, an example is presented to illustrate the application of the results.展开更多
A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. B...A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.展开更多
Mei symmetry and Mei conserved quantity for a non-holonomic system of non-Chetaev's type with unilateralconstraints in the Nielsen style are studied.The differential equations of motion for the system above are es...Mei symmetry and Mei conserved quantity for a non-holonomic system of non-Chetaev's type with unilateralconstraints in the Nielsen style are studied.The differential equations of motion for the system above are established.The definition and the criteria of Mei symmetry,conditions,and expressions of Mei conserved quantity deduced directlyfrom the Mei symmetry are given.An example is given to illustrate the application of the results.展开更多
The paper studies the form invariance and a type of non-Noether conserved quantity called Mei conserved quantity for non-holonomic systems with variable mass and unilateral constraints. Acoording to the invariance of ...The paper studies the form invariance and a type of non-Noether conserved quantity called Mei conserved quantity for non-holonomic systems with variable mass and unilateral constraints. Acoording to the invariance of the form of differential equations of motion under infinitesimal transformations, this paper gives the definition and criterion of the form invariance for non-holonomic systems with variable mass and unilateral constraints. The condition under which a form invariance can lead to Mei conservation quantity and the form of the conservation quantity are deduced. An example is given to illustrate the application of the results.展开更多
The dot product of the bases vectors on the super-surface of the non-linear nonholonomic constraints with one order, expressed by quasi-coorfinates, and Mishirskiiequalions are regarded as the fundamental equations of...The dot product of the bases vectors on the super-surface of the non-linear nonholonomic constraints with one order, expressed by quasi-coorfinates, and Mishirskiiequalions are regarded as the fundamental equations of dynamics with non-linear andnon-holononlic constraints in one order for the system of the variable mass. From thesethe variant ddferential-equations of dynamics expressed by quasi-coordinates arederived. The fundamental equations of dynamics are compatible with the principle ofJourdain. A case is cited.展开更多
In this paper, the unified symmetry of non-holonomic singular systems is studied. The differential equations of motion of the systems are given. The definition and the criterion of the unified symmetry for the systems...In this paper, the unified symmetry of non-holonomic singular systems is studied. The differential equations of motion of the systems are given. The definition and the criterion of the unified symmetry for the systems are presented. The Noether conserved quantity, the Hojman conserved quantity and the Mei conserved quantity are obtained. An example is given to illustrate the application of the results.展开更多
In this paper, the Lie-form invariance of a type of non-holonomic singular systems is studied. The differential equations of motion of the systems are given. The definition and the criterions of the Lie-form invarianc...In this paper, the Lie-form invariance of a type of non-holonomic singular systems is studied. The differential equations of motion of the systems are given. The definition and the criterions of the Lie-form invariance for the systems are presented. The Hojman conserved quantity and the Mei conserved quantity are obtained. An example is given to illustrate the application of the results.展开更多
For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasing...For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix equation.In this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion variable.Thus an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion manifold.In the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.展开更多
The dot product of bases vectors on the super-surface of constraints of the nonlinear non-holonomic space and Mesherskii equations may act as the equations of fundamental dynamics of mechanical system for the variable...The dot product of bases vectors on the super-surface of constraints of the nonlinear non-holonomic space and Mesherskii equations may act as the equations of fundamental dynamics of mechanical system for the variable mass.These are very simple and convenient for computation.From these known equations,the equations of Chaplygin,Nielson,Appell,Mac-Millan et al.are deriv d;it is unnecessary to introduce the definition if Appell-Chetaev or Niu Qinping for the virtual displacement.These are compatible with the D'Alembert-Lagrange's principle.展开更多
Rapid path planner plays an important role in autonomous ground vehicle （AGV） operation. Depending on the non-holonomic kinematics constraints of AGV, its path planning problem is discussed. Since rapidly-exploring ...Rapid path planner plays an important role in autonomous ground vehicle （AGV） operation. Depending on the non-holonomic kinematics constraints of AGV, its path planning problem is discussed. Since rapidly-exploring random tree （RRT） can directly take non-holonomic constraints into consideration, it is selected to solve this problem. By applying extra constraints on the movement, the generation of new configuration in RRT algorithm is simplified and accelerated. With section collision detection method applied, collision detection within the planer becomes more accurate and efficient. Then a new path planner is developed. This method complies with the non-holonomic constraints, avoids obstacles effectively and can be rapidly carried out while the vehicle is running. Simulation shows that this path planner can complete path planning in less than 0.5 s for a 170 mx 170 m area with moderate obstacle complexity.展开更多
文摘In this paper the Lie-form invariance of the non-holonomic systems with unilateral constraints is studied. The definition and the criterion of the Lie-form invariance of the system are given. The generalized Hojman conserved quantity and a new type of conserved quantity deduced from the Lie-form invariance are obtained. Finally, an example is presented to illustrate the application of the results.
基金This work was supported in part by the Grant-in-Aid for Exploratory Research of the JSPS (No. 16656085).
文摘A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.
基金Supported by the National Natural Science Foundation of China under Grant No.10572021Preparatory Research Foundation of Jiangnan under Grant No.2008LYY011
文摘Mei symmetry and Mei conserved quantity for a non-holonomic system of non-Chetaev's type with unilateralconstraints in the Nielsen style are studied.The differential equations of motion for the system above are established.The definition and the criteria of Mei symmetry,conditions,and expressions of Mei conserved quantity deduced directlyfrom the Mei symmetry are given.An example is given to illustrate the application of the results.
文摘The paper studies the form invariance and a type of non-Noether conserved quantity called Mei conserved quantity for non-holonomic systems with variable mass and unilateral constraints. Acoording to the invariance of the form of differential equations of motion under infinitesimal transformations, this paper gives the definition and criterion of the form invariance for non-holonomic systems with variable mass and unilateral constraints. The condition under which a form invariance can lead to Mei conservation quantity and the form of the conservation quantity are deduced. An example is given to illustrate the application of the results.
文摘The dot product of the bases vectors on the super-surface of the non-linear nonholonomic constraints with one order, expressed by quasi-coorfinates, and Mishirskiiequalions are regarded as the fundamental equations of dynamics with non-linear andnon-holononlic constraints in one order for the system of the variable mass. From thesethe variant ddferential-equations of dynamics expressed by quasi-coordinates arederived. The fundamental equations of dynamics are compatible with the principle ofJourdain. A case is cited.
文摘In this paper, the unified symmetry of non-holonomic singular systems is studied. The differential equations of motion of the systems are given. The definition and the criterion of the unified symmetry for the systems are presented. The Noether conserved quantity, the Hojman conserved quantity and the Mei conserved quantity are obtained. An example is given to illustrate the application of the results.
文摘In this paper, the Lie-form invariance of a type of non-holonomic singular systems is studied. The differential equations of motion of the systems are given. The definition and the criterions of the Lie-form invariance for the systems are presented. The Hojman conserved quantity and the Mei conserved quantity are obtained. An example is given to illustrate the application of the results.
文摘For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix equation.In this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion variable.Thus an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion manifold.In the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.
文摘The dot product of bases vectors on the super-surface of constraints of the nonlinear non-holonomic space and Mesherskii equations may act as the equations of fundamental dynamics of mechanical system for the variable mass.These are very simple and convenient for computation.From these known equations,the equations of Chaplygin,Nielson,Appell,Mac-Millan et al.are deriv d;it is unnecessary to introduce the definition if Appell-Chetaev or Niu Qinping for the virtual displacement.These are compatible with the D'Alembert-Lagrange's principle.
文摘Rapid path planner plays an important role in autonomous ground vehicle （AGV） operation. Depending on the non-holonomic kinematics constraints of AGV, its path planning problem is discussed. Since rapidly-exploring random tree （RRT） can directly take non-holonomic constraints into consideration, it is selected to solve this problem. By applying extra constraints on the movement, the generation of new configuration in RRT algorithm is simplified and accelerated. With section collision detection method applied, collision detection within the planer becomes more accurate and efficient. Then a new path planner is developed. This method complies with the non-holonomic constraints, avoids obstacles effectively and can be rapidly carried out while the vehicle is running. Simulation shows that this path planner can complete path planning in less than 0.5 s for a 170 mx 170 m area with moderate obstacle complexity.
