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This study describes the work carried out with the intention of accomplishing the ultimate objective of effective damage detection in structures, using their vibration parameters. As compared to the other vibration parameters, i.e., mode shape curvatures, damage indices, and flexibility curvatures, modal strain energy method (MSEM) showed high stability of damage detection. However, MSEM requires...
This research aims at Inverse Kinematic Modeling of a Prosthetic Upper Limb which consist of four degree of freedom (DOF). Focus of this research is to obtain desired joint angles for specified positions and orientations of arm model with respect to reference frame based on the orientation and configuration. Inverse Kinematics play an important role in automation of Robotic Manipulators. Analytical...
Many heuristic methods are used for path planning by researchers in the past and contemporary work but due to easy implementation, convergence properties, capability of escaping local optima and the use of hill-climbing moves have made simulated annealing (SA) a good choice for path planning. In this research the simulated annealing algorithm is used to obtain a collision-free optimal path among fixed...
This paper presents a nonlinear feedback control framework for two-wheeled mobile robots. The approach uses a constructive Lyapunov function which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. The dynamic equations are simplified through normalization and partial feedback linearization. The latter allows...
Most of the research so far on two wheeled mobile robots is on the control of the robot body. However when a robot is implemented in real environment the range of initial conditions of different states of the robot need to be known for safe operation. This paper presents the estimation of safe region of initial conditions of states for a statically unstable two wheeled mobile robot using a standard...
A Two Wheeled Mobile Robot (TWMR) is a highly nonlinear and open-loop unstable system. Dynamic analysis and control design to keep the body of the robot balanced has been an area of research in the last decade. This problem has been dealt by many researchers for the robot motion on flat surfaces. A few studies have addressed the motion control on constant sloped path. This work studies the control...
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