Sökning: "Redundant Manipulators"

Hittade 2 avhandlingar innehållade orden Redundant Manipulators.

1. 1. Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators

   Författare :Uwe Mettin; Anton Shiriaev; Alin Albu-Schäffer; Umeå universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Motion Planning; Underactuated Mechanical Systems; Redundant Manipulators; Virtual Holonomic Constraints; Orbital Stabilization; Human Movement; Walking Robots; Hydraulic Manipulators; Electrical engineering; Elektroteknik; Automatic Control; reglerteknik;

   Sammanfattning : Motion planning and control synthesis are challenging problems for underactuated mechanical systems due to the presence of passive (non-actuated) degrees of freedom. For those systems that are additionally not feedback linearizable and with unstable internal dynamics there are no generic methods for planning trajectories and their feedback stabilization. LÄS MER

3. 2. Reactive control and coordination of redundant robotic systems

   Författare :Yuquan Wang; Petter Ögren; Abderrahmane Kheddar; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; reactive control; dual-arm manipulation; mobile manipulation; ambulance positioning.; Computer Science; Datalogi;

   Sammanfattning : Redundant robotic systems, in terms of manipulators with one or twoarms, mobile manipulators, and multi-agent systems, have received an in-creasing amount of attention in recent years. In this thesis we describe severalways to improve robotic system performance by exploiting the redundancy. LÄS MER