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Analysis of deformable object handling

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dc.contributor.author Tanner Herbert, G en
dc.contributor.author Kyriakopoulos Kostas, J en
dc.date.accessioned 2014-03-01T01:14:24Z
dc.date.available 2014-03-01T01:14:24Z
dc.date.issued 1999 en
dc.identifier.issn 10504729 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/13049
dc.subject Deformable Objects en
dc.subject Finite Element en
dc.subject Inequality Constraint en
dc.subject Lie Algebra en
dc.subject Lie Bracket en
dc.subject underactuated mechanical system en
dc.subject.other Deformable object handling en
dc.subject.other Lie algebra en
dc.subject.other Lie brackets en
dc.subject.other Underactuated mechanical system en
dc.subject.other Constraint theory en
dc.subject.other Controllability en
dc.subject.other Degrees of freedom (mechanics) en
dc.subject.other Distributed parameter control systems en
dc.subject.other Equations of state en
dc.subject.other Finite element method en
dc.subject.other Mechanisms en
dc.subject.other Mobile robots en
dc.subject.other Strength of materials en
dc.subject.other Materials handling en
dc.title Analysis of deformable object handling en
heal.type journalArticle en
heal.identifier.primary 10.1109/ROBOT.1999.774001 en
heal.identifier.secondary http://dx.doi.org/10.1109/ROBOT.1999.774001 en
heal.publicationDate 1999 en
heal.abstract A manipulated deformable object is viewed as an underactuated mechanical system. In this context controllability issues are discussed and results on the nature of the constraints and the controllability properties of an important class of deformable objects being modeled with finite elements are stated. For this class of deformable objects the results permit to circumvent the usual procedure of calculating Lie brackets to establish a base for the associated Lie algebra, and answers the question of determining the kind of constraints imposed on the system in a straightforward algebraic way. Inequality constraints associated to material strength limitations are also included. en
heal.journalName Proceedings - IEEE International Conference on Robotics and Automation en
dc.identifier.doi 10.1109/ROBOT.1999.774001 en
dc.identifier.volume 4 en
dc.identifier.spage 2674 en
dc.identifier.epage 2679 en


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