This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …

This paper introduces an optimal capture strategy for a manipulator based on a servicing
spacecraft to approach an arbitrarily rotating object, such as a malfunctioning satellite or a …

This article proposes a novel robust control scheme for the trajectory tracking control of a
cable-driven aerial manipulator in joint space, combining an adaptive fractional-order …

This paper proposes the simultaneous design optimization of the geometry (joint position
and directions) and the topology (joint distribution and connection) of tree-type robotic …

The objective of this article is to present a systematic method of deriving the mathematical
formulation for the oblique impact of a tree-type robotic manipulator. The dynamic response …

Conventional methods for solving robot forward dynamics are characterized by high
computational complexity. Recursive Newton-Euler algorithm (RNEA) is the most efficient …

Accurate simulations of the motion of cable-driven parallel robots (CDPRs) are helpful in its
modal analysis, testing robust control strategies, validating designs and estimating …

Forward dynamic analyses of cable-driven parallel robots (CDPRs) are performed
accounting for the spatial motions of the cables while considering their mass, sag, elastic …

In this article, a recursive approach is used to dynamically model a tree-type robotic system
with floating base. Two solution procedures are developed to obtain the time responses of …

Dynamic modelling of a multibody system plays very essential role in its analyses. As a
result, several methods for dynamic modelling have evolved over the years that allow one to …