Acquisition of Autonomous Distributed Control Rule for Posture Adaptation of 3D Variable Geometry Truss by Genetic Programming

2000 ◽  
Vol 2000.1 (0) ◽  
pp. 153-154
Author(s):  
Hiroshi UEDA ◽  
Koetsu YAMAZAKI
Keyword(s):  
Genetic Programming ◽  
Distributed Control ◽  
Variable Geometry ◽  
Control Rule ◽  
Variable Geometry Truss

Analytical Model Method for Dynamics of N-Celled Tetrahedron-Tetrahedron Variable Geometry Truss Manipulators

1998 ◽  
Author(s):  
Li Ju Xu ◽  
Hong Li ◽  
Shou Wen Fan
Keyword(s):  
Analytical Model ◽  
Variable Geometry ◽  
Symbolic Form ◽  
Model Method ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss

Abstract In this paper some fundamental formulae are derived for tetrahedron-based variable geometry truss manipulator which is composed of a series of tetrahedrons stacked upon each other such that one link in each cell is made variable on length. Analytical model for dynamics of the manipulator is established, and expressions in numeric-symbolic form of model matrices are derived. An example is given for illustration.

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