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Paul Milenkovic
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Journal Articles

Serial-Robot Wrist-Singularity Mitigation Along Alternative Optimally Adjusted Paths

Paul Milenkovic
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2021, 143(11): 111002.
Paper No: DS-20-1256
https://doi.org/10.1115/1.4051253
Published Online: July 1, 2021
View Article titled, Serial-Robot Wrist-Singularity Mitigation Along Alternative Optimally Adjusted Paths
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Topics: Displacement, Robots, Optimization, Screws, Kinematics, Algorithms
Journal Articles

Numerical Solution of Stiff Multibody Dynamic Systems Based on Kinematic Derivatives

Paul Milenkovic
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2014, 136(6): 061001.
Paper No: DS-12-1158
https://doi.org/10.1115/1.4028049
Published Online: August 8, 2014
View Article titled, Numerical Solution of Stiff Multibody Dynamic Systems Based on Kinematic Derivatives
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Topics: Differential equations, Dynamic systems, Dynamics (Mechanics), Jacobian matrices, Kinematics, Linkages, Rotation, Screws, Springs, Deflection
Journal Articles

Multi-Integral Method for Solving the Forward Dynamics of Stiff Multibody Systems

Paul Milenkovic
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2013, 135(5): 051014.
Paper No: DS-12-1274
https://doi.org/10.1115/1.4024300
Published Online: June 27, 2013
View Article titled, Multi-Integral Method for Solving the Forward Dynamics of Stiff Multibody Systems
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Topics: Dynamics (Mechanics), Polynomials, Springs, Differential equations
Journal Articles

Projective Constraint Stabilization for a Power Series Forward Dynamics Solver

Paul Milenkovic
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2013, 135(3): 031004.
Paper No: DS-12-1079
https://doi.org/10.1115/1.4023212
Published Online: February 21, 2013
View Article titled, Projective Constraint Stabilization for a Power Series Forward Dynamics Solver
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Topics: Dynamics (Mechanics), Kinematics, Linkages, Screws, Rotation, Algebra, Differential equations
Journal Articles

Series Solution for Finite Displacement of Single-Loop Spatial Linkages

Paul Milenkovic
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2012, 4(2): 021016.
https://doi.org/10.1115/1.4006193
Published Online: April 25, 2012
View Article titled, Series Solution for Finite Displacement of Single-Loop Spatial Linkages
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Topics: Differential equations, Displacement, Kinematics, Linkages, Robots, Screws, Algorithms
Journal Articles

Solution of the Forward Dynamics of a Single-loop Linkage Using Power Series

Paul Milenkovic
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. November 2011, 133(6): 061002.
https://doi.org/10.1115/1.4004766
Published Online: September 9, 2011
View Article titled, Solution of the Forward Dynamics of a Single-loop Linkage Using Power Series
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Topics: Differential equations, Dynamics (Mechanics), Kinematic chains, Kinematics, Linkages, Screws, Chain, Equations of motion, Yaw, Closed kinematic chains
Journal Articles

Properties of the Bennett Mechanism Derived From the RRRS Closure Ellipse

Paul Milenkovic, Morgan V. Brown
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021012.
https://doi.org/10.1115/1.4003844
Published Online: April 19, 2011
View Article titled, Properties of the Bennett Mechanism Derived From the RRRS Closure Ellipse
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Topics: Linkages, Mechanical admittance, Design
Journal Articles

Nonsingular Spherically Constrained Clemens Linkage Wrist

Paul Milenkovic
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011014.
https://doi.org/10.1115/1.4003415
Published Online: February 10, 2011
View Article titled, Nonsingular Spherically Constrained Clemens Linkage Wrist
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Topics: Deflection, Kinematics, Linkages, Rotation, Yaw
Journal Articles

Series Solution for Finite Displacement of Planar Four-Bar Linkages

Paul Milenkovic
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2011, 3(1): 014501.
https://doi.org/10.1115/1.4002693
Published Online: November 23, 2010
View Article titled, Series Solution for Finite Displacement of Planar Four-Bar Linkages
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Topics: Differential equations, Displacement, Kinematics, Linkages, Screws, Trains, Approximation, Equilibrium (Physics)
Journal Articles

Mobility of Multichain Platform Mechanisms Under Differential Displacement

Paul Milenkovic
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031004.
https://doi.org/10.1115/1.4001725
Published Online: July 14, 2010
View Article titled, Mobility of Multichain Platform Mechanisms Under Differential Displacement
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Topics: Chain, Manipulators, Mechanical admittance, Screws, Displacement
Journal Articles

Mobility of Single-Loop Kinematic Mechanisms Under Differential Displacement

Paul Milenkovic
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2010, 132(4): 041001.
https://doi.org/10.1115/1.4001203
Published Online: March 30, 2010
View Article titled, Mobility of Single-Loop Kinematic Mechanisms Under Differential Displacement
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Topics: Chain, Displacement, Mechanical admittance, Screws, Linkages, Kinematics
Journal Articles

Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings

Paul Milenkovic
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2009, 1(2): 021006.
https://doi.org/10.1115/1.3046142
Published Online: January 7, 2009
View Article titled, Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings
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Topics: Couplings, Deflection, Linkages, Rotation, Screws, Torque, Mechanical admittance
Journal Articles

A Time Domain Method for Estimating Forces Applied to an Unrestrained Structure

Adam D. Stelzner, Senior Staff, Daniel C. Kammer, Associate Professor, Paul Milenkovic, Associate Professor
Journal: Journal of Vibration and Acoustics
Publisher: ASME
Article Type: Technical Papers
J. Vib. Acoust. October 2001, 123(4): 524–532.
https://doi.org/10.1115/1.1401055
Published Online: November 1, 2000
View Article titled, A Time Domain Method for Estimating Forces Applied to an Unrestrained Structure
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Topics: Chain, Sensors, Space vehicles, Springs, Filters, Errors, Accelerometers