Wire-suspended dynamical system: Stability analysis by tension-closure
SCIE
SCOPUS
- Title
- Wire-suspended dynamical system: Stability analysis by tension-closure
- Authors
- Park, J; Chung, WK; Moon, W
- Date Issued
- 2005-06
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGI
- Abstract
- Based on the linear complementarity formulation of a unilaterally inextensible wire model, the behavior of motion and stability of wire-suspended dynamical systems is addressed in this paper. The concept of tension properness is developed to determine kinematical motion property, particularly the instantaneous degrees-of-freedom. Further, motion determinacy in spite of tension indeterminacy is proven. The notion of tension closure is described to help analyze the stability behavior of wire-suspended dynamical systems. By analyzing the maximal closure-domain of relative tension closure, one can assess the stability behavior of wire-suspended systems qualitatively as well as somewhat quantitatively. Some numerical examples and simulations will clarify and corroborate the theoretical results of this paper.
- Keywords
- closure-domain; linear complementarity condition; tension-closure; wire-suspended dynamical systems
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/24560
- DOI
- 10.1109/TRO.2004.840888
- ISSN
- 1552-3098
- Article Type
- Article
- Citation
- IEEE TRANSACTIONS ON ROBOTICS, vol. 21, no. 3, page. 298 - 308, 2005-06
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- There are no files associated with this item.
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