Bawab, S, Sabada, S, Srinivasan, U, Kinzel, GL & Waldron, K 1997, 'Automatic Synthesis Of Crank Driven Four-bar Mechanisms For Two, Three, Or Four-position Motion Generation', Journal Of Mechanical Design, vol. 119, no. 2, pp. 225-231.
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The synthesis of motion generation of crank driven four-bar mechanisms designed to go through two, three, or four precision positions based on optimization theory and rectified synthesis are discussed. The techniques for automatic synthesis presented hav
Dissanayake, MWMG, Rye, DC & Durrant-Whyte, HF 1997, 'Towards automatic container handling cranes', Proceedings - IEEE International Conference on Robotics and Automation, pp. 1833-1838.
This paper describes the design and implementation of a semi-autonomous, and ultimately fully autonomous, container quay-crane. The new crane is based on a novel reeving arrangement which allows both fast and accurate gross motion as well as fine micropositioning. The paper describes the essential theory behind this design and presents experimental results from a 1/15th scale model. The proposed instrumentation of this crane is also briefly described as are key elements of the operator interface.
Fang, G & Dissanayake, MWMG 1997, 'Experiments on a time-optimal trajectory planning method based on neural networks', FOURTH ANNUAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE, PROCEEDINGS, 4th Annual Conference on Mechatronics and Machine Vision in Practice, I E E E, COMPUTER SOC PRESS, TOOWOOMBA, AUSTRALIA, pp. 188-193.
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In this paper, a kind of systems which occured in various problems in aerospace technology has been studied. Twin lift system is one of its special case. Because of the special structure of the systems, the controllability, observability, stability and existence of decentralized fixed modes of such systems can be tested on matrices of lower order. The same conclusion is true for circulant composite systems.
A near-optimal solution to the path-unconstrained timeoptimal trajectory planning problem is addressed in this paper. While traditional trajectory planning strategies are entirely based on kinematic considerations, manipulator dynamics are neglected altogether. This often results in mathematically tractable solutions which do not maximise the performance that manipulators might be capable of at any given time. The strategy presented in this work has two distinguishing features. First, the trajectory planning problem is reformulated as an optimal control problem which is in turn solved using Pontryagin's Maximum/Minimum Principle. This approach merges the traditional division of trajectory planning followed by trajectory tracking into one process. Secondly, the feedback form compensates for the dynamic approximation errors derived from the linearization approach taken and also the fundamental parameter uncertainty of the dynamic equations of motion. Results from simulations and an on-line implementation to a general purpose open-chain industrial manipulator, the CRS A251, confirm the validity of the approach and show that maximising the capabilities of the device can lead to an overall improvement in the manipulator time response of up to 25-30%.
Scheding, S, Dissanayake, G, Nebot, E & DurrantWhyte, H 1997, 'Slip modelling and aided inertial navigation of an LHD', 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997 IEEE International Conference on Robotics and Automation (ICRA97) - Teaming to Make an Impact, I E E E, ALBUQUERQUE, NM, pp. 1904-1909.