In the last decade a significant number of papers have been published on the efficient formulation of the inverse and forward dynamic equations of motion for robotic manipulators and in general for multibody systems, in view of real-time control or real-time simulation of the system.

This paper presents an on-line obstacle avoidance scheme for robot arms. This method is directly formulated in the Cartesian space and uses complete information about the workspace. The strategy is to detect the collision and to plan the motion of each link successively, starting from the base...

An electrical power system usually includes machines with their regulators and controls linked through power lines, transformers, capacitor banks, reactors, and loads. In stability analysis, two distinct strategies are possible for solving the differential equations and network equations...