Browsing by Subject "Equations of motion"

Now showing 1 - 5 of 5

Open Access
Network model approach to the analysis of multirigid-body systems
(Kluwer Academic Publishers, 1993) Tokad, Y.
The mathematical model of a rigid body in three dimensional motion developed in [1] is used to formulate the equations of motion for the systems of rigid bodies connected to form a special type of open kinematic chain. In this interconnection pattern of rigid bodies, each rigid body is considered as a 3-port component, and for the sake of generality, initially no constraints are imposed on the joints used to interconnect the rigid bodies. The system is considered as an (m+1)-port component and the corresponding terminal equations are obtained in closed form. As an appliction of these equations, a three-link plane manipulator is considered. © 1993 Kluwer Academic Publishers.
Open Access
On the boundary control of a flexible robot arm
(IEEE, 2001) Morgül, Ömer
We consider a flexible robot arm modeled as a single flexible link clamped to a rigid body. We assume that the system performs only planar motion. For this system, we pose two control problems; namely, the orientation and stabilization of the system. We propose a class of controllers to solve these problems.
Open Access
On the stabilization of a flexible beam with a tip mass
(Society for Industrial and Applied Mathematics, 1998-11) Conrad, F.; Morgül, Ö.
We study the stability of a flexible beam that is clamped at one end and free at the other; a mass is also attached to the free end of the beam. To stabilize this system we apply a boundary control force at the free end of the beam. We prove that the closed-loop system is well-posed and is exponentially stable. We then analyze the spectrum of the system for a special case and prove that the spectrum determines the exponential decay rate for the considered case.
Open Access
Orientation and control of a flexible spacecraft: planar motion
(IEEE, 1990) Morgül, Ömer
We consider a flexible spacecraft modeled as a rigid body which rotates in an inertial frame; a light flexible beam is clamped to the rigid body at one end and free at the other end. We assume that the flexible spacecraft performs only planar motions. We pose two control problems; namely, the orientation and the stabilization of the system. It is shown that suitable boundary controls applied to the free end of the beam and suitable control torques applied to the rigid body solve the problems posed above.
Open Access
Practical and realistic animation of cloth
(IEEE, 2007-05) Bayraktar, Serkan; Güdükbay, Uğur; Özgüç, Bülent
In this paper, we propose a system for the practical animation of cloth materials. A mass spring based cloth model is used. Explicit time integration methods are used to solve the equations of motion. We update the spring constants dynamically according to the net force acting on them. In this way, spring constants do not grow arbitrarily to introduce numerical instability and realistic cloth appearance without over elongation is obtained. © 2007 IEEE.