Relevant bibliographies by topics / Force polytope

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Force polytope'

Author: Grafiati
Published: 25 January 2025
Last updated: 31 July 2025

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Journal articles on the topic "Force polytope"

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Wei, Baochen, and Feng Gao. "Output force capacity polytope approach for actuator forces selection of three degrees of freedom excavating manipulator." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 11 (2013): 2007–17. http://dx.doi.org/10.1177/0954406213512629.

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Output force or velocity polytopes are usually used as an index of the manipulability of robot. This paper discusses the relationship between the actuator force and the variation of the output force capacity polytope and proposes the output force capacity polytope method for the selection of actuator forces of a three degrees of freedom excavating manipulator with the requirement that the output force on the end effector is a set of all possible forces rather than a single force. In this paper, the method to calculate capacity polytope is introduced with the consideration of gravity effect. Wi
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Rezzoug, Nasser, Vincent Hernandez, and Philippe Gorce. "Upper-Limb Isometric Force Feasible Set: Evaluation of Joint Torque-Based Models." Biomechanics 1, no. 1 (2021): 102–17. http://dx.doi.org/10.3390/biomechanics1010008.

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A force capacity evaluation for a given posture may provide better understanding of human motor abilities for applications in sport sciences, rehabilitation and ergonomics. From data on posture and maximum isometric joint torques, the upper-limb force feasible set of the hand was predicted by four models called force ellipsoid, scaled force ellipsoid, force polytope and scaled force polytope, which were compared with a measured force polytope. The volume, shape and force prediction errors were assessed. The scaled ellipsoid underestimated the maximal mean force, and the scaled polytope overest
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Peña Fernández, César A. "Control of Flexible Manipulator Robots Based on Dynamic Confined Space of Velocities: Dynamic Programming Approach." Journal of Robotics and Control (JRC) 3, no. 6 (2022): 743–53. http://dx.doi.org/10.18196/jrc.v3i6.16454.

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Linear Parameter Varying models-based Model Predictive Control (LPV-MPC) has stood out in manipulator robots because it presents well-rejection to dynamic uncertainties in flexible joints. However, it has become too weak when the MPC's optimization problem does not include kinematic constraints-based conditions. This paper uses dynamic confined space of velocities (DCSV) to include these conditions as a recursive polytopic constraint, guaranteeing optimal dependency on a simplex scheduling parameter. To this end, the local frame's velocities and torque/force preload of joints (related to viola
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Chiacchio, Pasquale, Yann Bouffard-Vercelli, and Fran�ois Pierrot. "Force polytope and force ellipsoid for redundant manipulators." Journal of Robotic Systems 14, no. 8 (1997): 613–20. http://dx.doi.org/10.1002/(sici)1097-4563(199708)14:8<613::aid-rob3>3.0.co;2-p.

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Ferrolho, Henrique, Wolfgang Merkt, Carlo Tiseo, and Sethu Vijayakumar. "Residual force polytope: Admissible task-space forces of dynamic trajectories." Robotics and Autonomous Systems 142 (August 2021): 103814. http://dx.doi.org/10.1016/j.robot.2021.103814.

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Firmani, Flavio, Alp Zibil, Scott B. Nokleby, and Ron P. Podhorodeski. "Wrench capabilities of planar parallel manipulators. Part II: Redundancy and wrench workspace analysis." Robotica 26, no. 6 (2008): 803–15. http://dx.doi.org/10.1017/s0263574708004396.

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SUMMARYThis part of the paper investigates the wrench capabilities of redundantly actuated planar parallel manipulators (PPMs). The wrench capabilities of PPMs are determined by mapping a hypercube from the torque space into a polytope in the wrench space. For redundant PPMs, one actuator output capability constrains the wrench space with a smaller polytope that is contained inside the overall polytope. Performance indices are derived from six study cases. These indices are employed to analyze the wrench workspace for constant orientation of the mobile platform of the non-redundant 3-RRR PPM,
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Andrews, Lawrence C., and Herbert J. Bernstein. "The geometry of Niggli reduction:BGAOL–embedding Niggli reduction and analysis of boundaries." Journal of Applied Crystallography 47, no. 1 (2014): 346–59. http://dx.doi.org/10.1107/s1600576713031002.

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Niggli reduction can be viewed as a series of operations in a six-dimensional space derived from the metric tensor. An implicit embedding of the space of Niggli-reduced cells in a higher-dimensional space to facilitate calculation of distances between cells is described. This distance metric is used to create a program,BGAOL, for Bravais lattice determination. Results fromBGAOLare compared with results from other metric based Bravais lattice determination algorithms. This embedding depends on understanding the boundary polytopes of the Niggli-reduced coneNin the six-dimensional spaceG6. This a
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Krengel, D., J. Chen, Z. Yu, H. G. Matuttis, and T. Matsushima. "Implementing van der Waals forces for polytope DEM particles." IOP Conference Series: Earth and Environmental Science 1480, no. 1 (2025): 012030. https://doi.org/10.1088/1755-1315/1480/1/012030.

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Abstract Clay minerals are non-spherical nano-particles interacting through ranged van der Waals forces. Discrete Element Simulations usually use coarse numerical integration based on sphere clusters, as available analytical formalisms are limited. In this paper, we discuss the numerical implementation of a van der Waals force for cuboid particles derived in previous research. In particular, we describe some of the corrections necessary for its extension to pairs of finite-sized particles.
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Boudreau, Roger, Scott Nokleby, and Marise Gallant. "Wrench Capabilities of a Kinematically Redundant Planar Parallel Manipulator." Robotica 39, no. 9 (2021): 1601–16. http://dx.doi.org/10.1017/s0263574720001381.

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SUMMARYThis paper presents a methodology to obtain the wrench capabilities of a kinematically redundant planar parallel manipulator using a wrench polytope approach. A methodology proposed by others for non-redundant and actuation-redundant manipulators is adapted to a kinematically redundant manipulator. Four wrench capabilities are examined: a pure force analysis, the maximum force for a prescribed moment, the maximum reachable force, and the maximum moment with a prescribed force. The proposed methodology, which finds the exact explicit solution for three of the four wrench capabilities, do
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Okabe, Kousuke. "Translating Manipulating Force Polytope by Dynamics on Kinematical Redundant Manipulators." Journal of the Robotics Society of Japan 41, no. 3 (2023): 303–8. http://dx.doi.org/10.7210/jrsj.41.303.

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Dissertations / Theses on the topic "Force polytope"

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Laisné, Gautier. "Capacités de force du membre supérieur : fondements théoriques et reconstruction de modèles musculosquelettiques." Electronic Thesis or Diss., Bordeaux, 2024. http://www.theses.fr/2024BORD0483.

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En interaction physique Humain-Robot, un robot et un individu effectuent une tâche de collaboration par le biais d'un contact physique, par exemple entre l'effecteur terminal du robot et la main de l'humain. Une attention nécessaire se porte alors sur la sécurité de cette collaboration. Afin que le robot puisse fournir une assistance adaptée, il est primordial de caractériser les limites d'un individu, notamment celles biomécaniques. Les capacités de force du membre supérieur humain correspondent à l'ensemble des efforts qu'il peut exercer au niveau de la main, dans une posture spécifique. La
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Zhang, Bo. "Sur la commande à retour d'effort à travers des réseaux non dédiés : stabilisation et performance sous retards asymétriques et variables." Phd thesis, Ecole Centrale de Lille, 2012. http://tel.archives-ouvertes.fr/tel-00733141.

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Ce travail propose de nouvelles structures de contrôle pour la téléopération bilatérale à travers des réseaux de communication non dédiés. L'enjeu est donc de concevoir et calculer des structures de commande garantissant la stabilisation et un bon degré de performance en termes de synchronisation (suivi des positions et vitesse) et de transparence (ressenti des forces) sous les retards variables et asymétriques.Nous faisons tout d'abord un tour d'horizon des recherches récentes dans le domaine des systèmes de téléopération et de leurs caractéristiques. Puis, nous considérons des modèles linéai
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Books on the topic "Force polytope"

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Shaping Space. Birkhauser, 1988.

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Book chapters on the topic "Force polytope"

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Mejia, L., H. Simas, and D. Martins. "Force Capability Polytope of a 3RRR Planar Parallel Manipulator." In Advances on Theory and Practice of Robots and Manipulators. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_60.

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Mejia, Leonardo, Henrique Simas, and Daniel Martins. "Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator." In Advances in Robot Kinematics. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-06698-1_10.

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Erdinc, Umur, Mats Jonasson, Maliheh Sadeghi Kati, Leo Laine, Bengt Jacobson, and Jonas Fredriksson. "Yaw Stability Control of Vehicles Using a Slip Polytope Validated with Real Tests." In Lecture Notes in Mechanical Engineering. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-70392-8_19.

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AbstractArticulated heavy vehicles (AHVs) face yaw instabilities, especially under extensive propulsion or regenerative braking force on the driven axles, risking their directional stability and potentially leading to jackknifing. Hence, safe operating envelopes (SOEs) are essential for allocating propulsion and braking forces among different units. This study proposes a novel approach to ensure yaw stability by reducing longitudinal slip limits of the electric motors (EMs) based on side-slip, enhancing stability and acceleration performance. Validation through simulations and real vehicle tes
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Greve, J., G. J. Puppels, C. J. De Grauw, C. A. J. Putman, and B. G. De Grooth. "Raman Spectroscopy and Atomic Force Microscopy of Polytene Chromosomes." In Fifth International Conference on the Spectroscopy of Biological Molecules. Springer Netherlands, 1993. http://dx.doi.org/10.1007/978-94-011-1934-4_29.

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Dai, Xiaowei, Yuru Zhang, Dangxiao Wang, and Jian Song. "Structural Characteristics of Force/Moment Polytopes of Cable Driven Parallel Mechanisms." In Advances in Reconfigurable Mechanisms and Robots II. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-23327-7_33.

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Khedr, Haitham, James Ferlez, and Yasser Shoukry. "PEREGRiNN: Penalized-Relaxation Greedy Neural Network Verifier." In Computer Aided Verification. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-81685-8_13.

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AbstractNeural Networks (NNs) have increasingly apparent safety implications commensurate with their proliferation in real-world applications: both unanticipated as well as adversarial misclassifications can result in fatal outcomes. As a consequence, techniques of formal verification have been recognized as crucial to the design and deployment of safe NNs. In this paper, we introduce a new approach to formally verify the most commonly considered safety specifications for ReLU NNs – i.e. polytopic specifications on the input and output of the network. Like some other approaches, ours uses a re
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Krishnasamy, Vinotha. "Innovations in the Synthesis and Characterization of MXenes and MBenes." In Novel Energy Storage and Conversion Technologies for Two-Dimensional MXenes and MBenes. IGI Global, 2025. https://doi.org/10.4018/979-8-3693-9546-2.ch002.

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MXenes and MBenes are potential 2D materials with the scope of application in material science and nanotechnology. Innovations in synthesis and characterisation techniques are significant for their widespread application. Advanced characterization techniques are required to get a proper understanding because each step in the synthesis procedure has an impact on the material properties. TEM is essential to determine the MAX polytypes. Combining TEM and XRD can give information about microscopic and macroscopic structures. SEM with EDS gives information about the M element. X-ray absorption spec
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Conference papers on the topic "Force polytope"

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Skuric, Antun, Vincent Padois, and David Daney. "On-line force capability evaluation based on efficient polytope vertex search." In 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2021. http://dx.doi.org/10.1109/icra48506.2021.9562050.

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Laisné, Gautier, Nasser Rezzoug, and Jean-Marc Salotti. "Derivative-Free Optimization Approaches for Force Polytopes Prediction." In ESANN 2023 - European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning. Ciaco - i6doc.com, 2023. http://dx.doi.org/10.14428/esann/2023.es2023-122.

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Tian, Yuan, Feng Gao, and Jimu Liu. "Velocity/Force Capacities of a Six-Legged Walking Machine." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67543.

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Six-legged robots are reliable locomotive machines with actuation redundancy. This paper analyzes the force and velocity capacities of a six-legged high-payload robot geometrically and numerically. The full-body Jacobian between the body platform and the actuation is first of all computed. A geometric computation approach is then proposed to obtain the robot velocity/force polytopes in the platform operational space. System physical constraints of joint torques and velocities are taken into account so that the task space capacities could be quantitatively given. Besides, several capacity indic
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Pholsiri, Chalongrath, Chetan Kapoor, and Delbert Tesar. "Real-Time Robot Capability Analysis." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84353.

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Robot Capability Analysis (RCA) is a process in which force/motion capabilities of a manipulator are evaluated. It is very useful in both the design and operational phases of robotics. Traditionally, ellipsoids and polytopes are used to both graphically and numerically represent these capabilities. Ellipsoids are computationally efficient but tend to underestimate while polytopes are accurate but computationally intensive. This article proposes a new approach to RCA called the Vector Expansion (VE) method. The VE method offers accurate estimates of robot capabilities in real time and therefore
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Bilyi, Vladyslav, and Oleksandr Vasiliev. "A first-principles study of uniaxial compression of boron carbide doped by aluminum in intercosahedral chain." In IXth INTERNATIONAL SAMSONOV CONFERENCE “MATERIALS SCIENCE OF REFRACTORY COMPOUNDS”. Frantsevich Ukrainian Materials Research Society, 2024. http://dx.doi.org/10.62564/m4-vb1846.

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Boron carbide is a widely used impact-resistant ceramic due to its hardness, low density, and high Hugonio elastic limit, but it is prone to amorphization under high non-hydrostatic loads. Fanchini [1] suggested that the cause of amorphization lies in the (B₁₂)C-C-C boron carbide polytype, namely in the intercosahedral C-C-C chain. Previously, we determined [2] that the substitution of aluminum in the center of the chain is possible, and the most likely configuration is (B₁₂)C^Al^C. In this work, we consider the simulation of uniaxial compression along the intercosahedral chain of (B₁₂)C^Al^C
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Türkay, Semiha, and Aslı S. Leblebici. "Vibration Control of a Rigid and Flexible High-Speed Railway Vehicle." In 2020 Joint Rail Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/jrc2020-8096.

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Abstract In this paper, the vertical carbody dynamics of the railway vehicle excited by random track inputs are investigated. The multi-objective ℋ∞ controllers for carbody weight of the actual, heavy and a mass confined in a polytopic range have been designed with the aim of reducing the wheel forces, heave, pitch and roll body accelerations of the vehicle. Later, the carbody mass is modelled as a free-free Euler Bernoulli beam and the low frequency flexural vibrations of the train body are examined. An omnibus ℋ∞ controller is synthesized to suppress both the rigid and low frequencies flexib
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