scholarly journals Control of constrained nonlinear uncertain discrete-time systemsviarobust controllable sets: a modal interval analysis approach

2009 ◽  
Vol 15 (1) ◽  
pp. 189-204
Author(s):  
Jian Wan ◽  
Josep Vehí ◽  
Ningsu Luo ◽  
Pau Herrero
Keyword(s):  
Discrete Time ◽  
Interval Analysis ◽  
Analysis Approach ◽  
Modal Interval

scholarly journals Collision-free workspace of parallel mechanisms based on an interval analysis approach

Robotica ◽  
2016 ◽  
Vol 35 (8) ◽  
pp. 1747-1760 ◽  
Author(s):  
MohammadHadi FarzanehKaloorazi ◽  
Mehdi Tale Masouleh ◽  
Stéphane Caro
Keyword(s):  
Interval Analysis ◽  
Parallel Mechanism ◽  
Spherical Shape ◽  
Stewart Platform ◽  
Analysis Approach ◽  
Parallel Mechanisms ◽  
Planar Case ◽  
End Effector ◽  
Mechanical Interference

SUMMARYThis paper proposes an interval-based approach in order to obtain the obstacle-free workspace of parallel mechanisms containing one prismatic actuated joint per limb, which connects the base to the end-effector. This approach is represented through two cases studies, namely a 3-RPR planar parallel mechanism and the so-called 6-DOF Gough–Stewart platform. Three main features of the obstacle-free workspace are taken into account: mechanical stroke of actuators, collision between limbs and obstacles and limb interference. In this paper, a circle(planar case)/spherical(spatial case) shaped obstacle is considered and its mechanical interference with limbs and edges of the end-effector is analyzed. It should be noted that considering a circle/spherical shape would not degrade the generality of the problem, since any kind of obstacle could be replaced by its circumscribed circle/sphere. Two illustrative examples are given to highlight the contributions of the paper.

Modal Interval Analysis

2014 ◽  
Author(s):  
Miguel A. Sainz ◽  
Joaquim Armengol ◽  
Remei Calm ◽  
Pau Herrero ◽  
Lambert Jorba ◽  
...  
Keyword(s):  
Interval Analysis ◽  
Modal Interval
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