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The logging harvester is made up of a walking mechanism, a mechanical arm, a felling head and a driving control system, which can do the works of felling, limbing, measuring and bucking. Because the ground surface of the forest land is very rough, the vibration should be studied when it is going in the forest land in order to prevent the harmful effects to the machine and driver. In this paper, the...
This paper describes a procedure for obtaining the dynamical model of a space robot in a form that is useful for simulation. The differential equations of motion of the space robot are derived using a constrained Lagrangian approach to mechanics. Quaternions are utilized to model rotation which gives rise to generalized forces that are in the direction of the quaternion elements. A transformation...
As space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics. The dynamics model of the space flexible robots is very complex, and the differential equation derived from dynamics was solved difficultly and slowly. In this paper the dynamics of space flexible robots was discussed, and the fast efficient integration method was...
This paper proposes a fast online gait planning method with vertical oscillation of body. It uses an analytic solution of equation of motion. In previous works, the analytic solution is calculated under the condition of constant height of COG(center of gravity). However these works cannot treat various motions involving vertical oscillation. Our method can treat COG vertical oscillation by dynamical...
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