Sökning: "dual quaternion"

Hittade 3 avhandlingar innehållade orden dual quaternion.

1. 1. Part Quality Prediction and Variation Reduction in Multistage Machining Processes Based on Skin Model Shapes

   Författare :Filmon Yacob; Daniel Semere; Sophie Gröger; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Machining simulation; model-based prediction; variation propagation; variation source identification; variation compensation; tolerance analysis; Octree; anomaly detection; quaternion; dual quaternion; Plücker coordinate.; Maskinbearbetningssimulering; modellbaseradförutsägelse; variationsspridning; variationskällidentifiering; variationskompensation; toleransanalys; Octree; dual quaternions; Plücker-koordinat.; Production Engineering; Industriell produktion;

   Sammanfattning : All manufacturing processes inevitably induce variations into manufactured parts that may result in nonconformance. Nonconforming parts incur costs due to the additional process required for rework or scrap loss. Hence, methodical efforts to reduce these variations are necessary for competitive manufacturing. LÄS MER

3. 2. High-Speed Vision and Force Feedback for Motion-Controlled Industrial Manipulators

   Författare :Tomas Olsson; Institutionen för reglerteknik; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; robotics; Automation; Force vision control; Visual tracking; Visual servoing; control engineering; Automatiska system; robotteknik; reglerteknik;

   Sammanfattning : Over the last decades, both force sensors and cameras have emerged as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. LÄS MER

4. 3. Feedback Control and Sensor Fusion of Vision and Force

   Författare :Tomas Olsson; Institutionen för reglerteknik; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; sensor based robot control; Visual tracking; visual servoing; resource optimization; Kalman filter;

   Sammanfattning : This thesis deals with feedback control using two different sensor types, force sensors and cameras. In many tasks robotics compliance is required in order to avoid damage to the workpiece. Force and vision are the most useful sensing capabilities for a robot system operating in an unknown or uncalibrated environment. LÄS MER