Sökning: "Kinematic constraints"

Visar resultat 1 - 5 av 33 avhandlingar innehållade orden Kinematic constraints.

  1. 1. Wind Turbine Drive Train System Dynamics ; Multibody Dynamic Modelling and Global Sensitivity Analysis

    Författare :Saeed Asadi; Chalmers tekniska högskola; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Global sensitivity analysis; Model validation; Multibody dynamics system mod-elling; Gearbox modelling; Kinematic constraints; Bearing defects detection; Wind turbine drive train dynamics; Floating reference frame;

    Sammanfattning : To facilitate the design and production of highly efficient and reliable wind turbine drive trains, this thesis deals with the mathematical modelling and analysis of drive train system dynamics. The drive train is considered as the subsystem of the wind turbine that transfers mechanical power from the rotor hub to the generator, and thereby plays an important role in the system dynamics and the efficiency of wind turbine operation. LÄS MER

  3. 2. Testing Tectonic Concepts in the Seve Nappe Complex, Jämtland, Sweden

    Författare :Hagen Bender; Uwe Ring; Bjarne Almqvist; Karin Högdal; Stockholms universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Caledonian orogeny; Seve Nappe Complex; Kinematic analysis; Geology; geologi;

    Sammanfattning : When continental plates collide, one of the involved continents is subducted beneath the other one. As a consequence, the lithosphere thickens along the convergent plate boundary and causes the formation of a mountain belt. LÄS MER

  4. 3. 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

  5. 4. 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

  7. 5. Combining Task and Motion Planning

    Författare :Fabien Lagriffoul; Alessandro Saffiotti; Lars Karlsson; Malik Ghallab; Örebro universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Datavetenskap; Computer Science;

    Sammanfattning : This thesis addresses the problem of automatically computing, given a high-level goal description, a sequence of actions and motion paths for one or several robots to achieve that goal. Also referred to as CTAMP (Combining Task And Motion Planning), this problem may seem trivial at first glance, since efficient solutions have been found for its two underlying problems, namely task planning and motion planning. LÄS MER