Sökning: "Institutionen för reglerteknik"
Visar resultat 1 - 5 av 209 avhandlingar innehållade orden Institutionen för reglerteknik.
Sammanfattning : Results from a research project supported by the Swedish Council for Building Research are reported. The main task was to improve climate control technology. The work was focused on digital control. It was split up into three main tasks: model building, design of regulators, and fullscale experiments. LÄS MER
Sammanfattning : Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. LÄS MER
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
Sammanfattning : Modeling and simulation are established techniques for solving design problems in a wide range of engineering disciplines today. Dedicated computer languages, such as Modelica, and efficient software tools are available. In this thesis, an extension of Modelica, Optimica, targeted at dynamic optimization of Modelica models is proposed. LÄS MER
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