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A planar parametric transformer using a laminated Si-Fe core has been proposed by the authors. The stable or unstable states of a parametric oscillation are represented by the Mathieu equation. The Mathieu equations under no-load and load conditions are obtained in this paper. The relationships between the stable-unstable state of a parametric oscillation and the operating point of the transformer...
Modeling of pinching an object with arbitrary shape by a pair of robot fingers with hemispherical ends in a horizontal plane is proposed in a mathematical and computational manner. Since the curvature of an object contour with an arbitrary curve is variable according to the change of the contact point between the object surface and the rigid finger tip, the arclength paremeter ??s?? explicitly appears...
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, position/force hybrid control of an endeffector of a multi-joint redundant (or nonredundant) robot under a nonholonomic constraint is reinterpreted in terms of ldquosubmersionrdquo in Riemannian geometry. A force control signal...
This paper deals with dynamic object grasping and position control by using a triple-fingered robotic hand with hemispherical soft finger tips. In the authorspsila previous works, a dynamic object grasping method by using a pair of robotic fingers, called ldquoBlind Graspingrdquo, which does not need to use any external sensing, was proposed. However, it is so far assumed that spinning motion around...
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