Showing papers by "N.H. McClamroch published in 1986"
07 Apr 1986
TL;DR: A general reduction approach is presented that can, in principle, form the basis for the development of planning and feedback control schemes for such robot system configurations.
Abstract: There are many robot system configurations where external contact forces on a robot play an important role in the system dynamics. Such contact forces arise due to constraints on the motion of the robot. Mathematical models of such robot system naturally give rise to a mathematical system of differential equations and algebraic equations, that can be viewed as a singular system of differential equations. Such singular models are developed for several robot system configurations. A general reduction approach is presented that can, in principle, form the basis for the development of planning and feedback control schemes for such robot system configurations.
253 citations
01 Apr 1986
TL;DR: A new stochastic model of tool wear is proposed that is compatible with on-line control and feedback of tool Wear measurcments and agreement with the Taylor tool life formula in the mean is proposed.
Abstract: A new stochastic model of tool wear is proposed that is compatible with on-line control and feedback of tool wear measurcments. Properties of the model are given for one class of machining conditions. Conditions are given for agreement with the Taylor tool life formula in the mean.
1 citations