Sökning: "Underactuated mechanical systems"

Hittade 4 avhandlingar innehållade orden Underactuated mechanical systems.

  1. 1. Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control

    Författare :Pedro La Hera; Anton Shiriaev; Ambarish Goswami; Umeå universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Underactuated mechanical systems; mechanical systems with impacts; trajectory planning; periodic trajectories; orbital stabilization; walking robots; virtual holonomic constraints; transverse linearization; Automatic control; Reglerteknik; Automatic Control; reglerteknik;

    Sammanfattning : Nature and its variety of motion forms have inspired new robot designs with inherentunderactuated dynamics. The fundamental characteristic of these controlled mechanicalsystems, called underactuated, is to have the number of actuators less than the number ofdegrees of freedom. LÄS MER

  3. 2. 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

  4. 3. Applications of the Virtual Holonomic Constraints Approach : Analysis of Human Motor Patterns and Passive Walking Gaits

    Författare :Uwe Mettin; Anton Shiriaev; Umeå universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Motion Planning; Humanoid Robots; Virtual Holonomic Constraints; Underactuated Mechanical Systems; Mechanical Springs; Automatic control; Reglerteknik;

    Sammanfattning : In the field of robotics there is a great interest in developing strategies and algorithms to reproduce human-like behavior. One can think of human-like machines that may replace humans in hazardous working areas, perform enduring assembly tasks, serve the elderly and handicapped, etc. LÄS MER

  5. 4. Tools for Control System Design : Stratification of Matrix Pairs and Periodic Riccati Differential Equation Solvers

    Författare :Stefan Johansson; Bo Kågström; Erik Elmroth; Paul Van Dooren; Umeå universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; control system design; stratification; controllability; observability; matrix pair; canonical forms; linear quadratic regulator; periodic systems; periodic Riccati differential equation; Computer science; Datavetenskap; Numerical Analysis; numerisk analys;

    Sammanfattning : Modern control theory is today an interdisciplinary area of research. Just as much as this can be problematic, it also provides a rich research environment where practice and theory meet. This Thesis is conducted in the borderline between computing science (numerical analysis) and applied control theory. LÄS MER