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Journal Articles

Simultaneous Stiffness and Trajectory Optimization for Energy Minimization of Pick-and-Place Tasks of Series Elastic Actuators-Actuated Parallel Kinematic Manipulators

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Thomas Kordik, Hubert Gattringer, Andreas Müller
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. August 2025, 20(8): 081008.
Paper No: CND-24-1296
https://doi.org/10.1115/1.4068321
Published Online: May 19, 2025
View Articletitled, Simultaneous Stiffness and Trajectory Optimization for Energy Minimization of Pick-and-Place Tasks of Series Elastic Actuators-Actuated Parallel Kinematic Manipulators
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Topics: Actuators, Friction, Kinematics, Manipulators, Seas, Dynamics (Mechanics), Trajectories (Physics), Optimal control, Optimization
Journal Articles

A Moving Horizon Estimation for a Class of Soft Continuum Manipulators

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Guaraci Bastos, Jr.
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. August 2024, 19(8): 081004.
Paper No: CND-23-1177
https://doi.org/10.1115/1.4065670
Published Online: June 18, 2024
View Articletitled, A Moving Horizon Estimation for a Class of Soft Continuum Manipulators
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Topics: Algorithms, Manipulators, Springs, Trajectories (Physics), Noise (Sound), Dynamics (Mechanics), Robustness, Dampers, Uncertainty, Optimization
Journal Articles

The Presence of Chaos in a Viscoelastic Harmonically Forced Von Mises Truss

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Pritam Ghoshal, James M. Gibert, Anil K. Bajaj
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. July 2024, 19(7): 071009.
Paper No: CND-23-1262
https://doi.org/10.1115/1.4064554
Published Online: May 14, 2024
View Articletitled, The Presence of Chaos in a Viscoelastic Harmonically Forced Von Mises Truss
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Topics: Bifurcation, Chaos, Damping, Dynamics (Mechanics), Oscillations, Trusses (Building), Trajectories (Physics), Viscoelasticity, Stiffness, Viscosity
Journal Articles

Inertial Parameter Identification for Closed-Loop Mechanisms: Adaptation of Linear Regression for Coordinate Partitioning

Open Access
Lauri Pyrhönen, Thijs Willems, Aki Mikkola, Frank Naets
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2024, 19(5): 051001.
Paper No: CND-23-1278
https://doi.org/10.1115/1.4064794
Published Online: March 7, 2024
View Articletitled, Inertial Parameter Identification for Closed-Loop Mechanisms: Adaptation of Linear Regression for Coordinate Partitioning
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Topics: Algorithms, Differential equations, Friction, Kinematics, Multibody systems, Regression models, State estimation, System dynamics, Torque, Trajectories (Physics)
Journal Articles

Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems

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Bálint Bodor, László Bencsik
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2023, 18(6): 061002.
Paper No: CND-22-1183
https://doi.org/10.1115/1.4056593
Published Online: April 6, 2023
View Articletitled, Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems
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Topics: Approximation, Optimal control, Trajectories (Physics), Tracking control, Manipulators, Newton's method
Journal Articles

Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns

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Tamas G. Molnar, Katherine Tighe, Wyatt Ubellacker, Arash Kalantari, Aaron D. Ames
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2023, 18(6): 061001.
Paper No: CND-22-1157
https://doi.org/10.1115/1.4056659
Published Online: April 6, 2023
View Articletitled, Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns
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Topics: Design engineering, Optimization, Robots, Rollers, Simulation, Trajectories (Physics), Path planning, Torque, Robotics, Inspection
Journal Articles

A Backpropagation Learning Method for Dynamic Parameter Identification of Industrial Robots

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Tie Zhang, Jinsheng Xu, Yanbiao Zou
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2022, 17(6): 061006.
Paper No: CND-21-1225
https://doi.org/10.1115/1.4053934
Published Online: March 25, 2022
View Articletitled, A Backpropagation Learning Method for Dynamic Parameter Identification of Industrial Robots
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Topics: Algorithms, Dynamic models, Errors, Friction, Particle swarm optimization, Robots, Torque, Trajectories (Physics), Excitation, Inertia (Mechanics)
Journal Articles

An Alternative Formulation for Modeling Self-Excited Vibrations of Drillstring With Polycrystalline Diamond Compact Bits

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Kaixiao Tian, Emmanuel Detournay, He Zhang
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2022, 17(5): 051002.
Paper No: CND-21-1308
https://doi.org/10.1115/1.4053407
Published Online: March 8, 2022
View Articletitled, An Alternative Formulation for Modeling Self-Excited Vibrations of Drillstring With Polycrystalline Diamond Compact Bits
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Topics: Delays, Drill strings, Equations of motion, Galerkin method, Modeling, Polycrystalline diamond compact bits, Rocks, Stability, Torque, Trajectories (Physics)
Journal Articles

A Study on Methods for Determining Phase Space Reconstruction Parameters

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Shi hui Lang, Hua Zhu, Guo dong Sun, Yu Jiang, Chun ling Wei
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2022, 17(1): 011006.
Paper No: CND-20-1383
https://doi.org/10.1115/1.4052721
Published Online: November 17, 2021
View Articletitled, A Study on Methods for Determining Phase Space Reconstruction Parameters
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Topics: Attractors, Delays, Dimensions, Phase space, Time series, Trajectories (Physics)
Journal Articles

Two-Dimensional Modeling of Nonlinear Dynamics of Forcespinning Jet Formation

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Dumitru I. Caruntu, Simon Padron, Karen Lozano
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. August 2021, 16(8): 081006.
Paper No: CND-19-1378
https://doi.org/10.1115/1.4051167
Published Online: June 17, 2021
View Articletitled, Two-Dimensional Modeling of Nonlinear Dynamics of Forcespinning Jet Formation
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Topics: Computer simulation, Fibers, Fluids, Rotation, Steady state, Trajectories (Physics), Jets, Modeling, Nanofibers, Surface tension
Journal Articles

Predictive Trajectory Tracking Algorithm of Underactuated Systems Based on the Calculus of Variations

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Bálint Bodor, Ambrus Zelei, László Bencsik
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. August 2021, 16(8): 081002.
Paper No: CND-20-1140
https://doi.org/10.1115/1.4051168
Published Online: June 16, 2021
View Articletitled, Predictive Trajectory Tracking Algorithm of Underactuated Systems Based on the Calculus of Variations
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Topics: Algorithms, Control equipment, Errors, Manipulators, Optimization, Simulation, Trajectories (Physics), Actuators, Dynamics (Mechanics), Equations of motion
Journal Articles

A Rigid Multibody Model to Study the Translational Motion of Guidewires Based on Their Mechanical Properties

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Hoda Sharei, Jeroen Kieft, Kazuto Takashima, Norihiro Hayashida, John J. van den Dobbelsteen, Jenny Dankelman
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. October 2019, 14(10): 101010.
Paper No: CND-18-1509
https://doi.org/10.1115/1.4043618
Published Online: September 9, 2019
View Articletitled, A Rigid Multibody Model to Study the Translational Motion of Guidewires Based on Their Mechanical Properties
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Topics: Friction, Mechanical properties, Simulation, Stiffness, Phantoms, Trajectories (Physics), Multibody dynamics
Journal Articles

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

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Vo Anh Tuan, Hee-Jun Kang
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. March 2019, 14(3): 031002.
Paper No: CND-18-1101
https://doi.org/10.1115/1.4042293
Published Online: January 11, 2019
View Articletitled, A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme
Open the PDF for A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme in another window
Topics: Design, Errors, Manipulators, Sliding mode control, Uncertainty, Robots, Stability, Trajectories (Physics), Simulation, Robustness
Journal Articles

Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory

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B. Sandeep Reddy, Ashitava Ghosal
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. July 2018, 13(7): 074501.
Paper No: CND-17-1524
https://doi.org/10.1115/1.4040022
Published Online: May 17, 2018
View Articletitled, Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory
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Topics: Control equipment, Robots, Stability, Trajectories (Physics), Computer simulation, Robustness
Journal Articles

Tracking of a Bouncing Ball in a Planar Billiard Through Continuous-Time Approximations

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Laura Menini, Corrado Possieri, Antonio Tornambè
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2018, 13(6): 061006.
Paper No: CND-17-1312
https://doi.org/10.1115/1.4039876
Published Online: April 27, 2018
View Articletitled, Tracking of a Bouncing Ball in a Planar Billiard Through Continuous-Time Approximations
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Topics: Approximation, Feedback, Theorems (Mathematics), Trajectories (Physics), Errors
Journal Articles

Finite Difference Computational Method for Trajectory Controllability of a Delayed Damped System Governed by Fractional Differential Equation

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P. Muthukumar, B. Ganesh Priya
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2017, 12(5): 051028.
Paper No: CND-17-1049
https://doi.org/10.1115/1.4037076
Published Online: July 12, 2017
View Articletitled, Finite Difference Computational Method for Trajectory Controllability of a Delayed Damped System Governed by Fractional Differential Equation
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Topics: Finite difference methods, Trajectories (Physics), Approximation, Algorithms, Differential equations, Theorems (Mathematics), Computer simulation, Delays, Computational methods
Journal Articles

A Modified Runge–Kutta Method for Nonlinear Dynamical Systems With Conserved Quantities

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Guang-Da Hu
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2017, 12(5): 051026.
Paper No: CND-16-1586
https://doi.org/10.1115/1.4036761
Published Online: July 12, 2017
View Articletitled, A Modified Runge–Kutta Method for Nonlinear Dynamical Systems With Conserved Quantities
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Topics: Nonlinear dynamical systems, Runge-Kutta methods, Trajectories (Physics), Numerical analysis
Journal Articles

The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics

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Thomas Lauß, Stefan Oberpeilsteiner, Wolfgang Steiner, Karin Nachbagauer
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2017, 12(3): 031016.
Paper No: CND-16-1336
https://doi.org/10.1115/1.4035197
Published Online: December 5, 2016
View Articletitled, The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics
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Topics: Computation, Equations of motion, Interpolation, Multibody dynamics, Multibody systems, Optimization, Trajectories (Physics), Robots, Algorithms, Signals
Journal Articles

Discrete Mechanics and Optimal Control of Walking Gaits

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M. W. Koch, M. Ringkamp, S. Leyendecker
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. March 2017, 12(2): 021006.
Paper No: CND-15-1444
https://doi.org/10.1115/1.4035213
Published Online: December 2, 2016
View Articletitled, Discrete Mechanics and Optimal Control of Walking Gaits
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Topics: Cycles, Kinetic energy, Optimal control, Optimization, Torque, Trajectories (Physics)
Journal Articles

Nonlinear Dynamic Analysis of an Icosahedron Frame which Exhibits Chaotic Behavior

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Lucas W. Just, Anthony M. DeLuca, Anthony N. Palazotto
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2017, 12(1): 011006.
Paper No: CND-15-1373
https://doi.org/10.1115/1.4034265
Published Online: September 1, 2016
View Articletitled, Nonlinear Dynamic Analysis of an Icosahedron Frame which Exhibits Chaotic Behavior
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Topics: Boundary-value problems, Displacement, Dynamic analysis, Stress, Trajectories (Physics), Attractors, Pressure, Dynamic response, Vacuum