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Hittade 5 avhandlingar som matchar ovanstående sökkriterier.

  1. 1. Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking

    Författare :Pedro Xavier Miranda La Hera; Anton Shiriaev; Umeå universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Under-actuated Systems; Orbital Exponential Stability; Motion Planning; Virtual Constraints; Walking robots; Automatic control; Reglerteknik;

    Sammanfattning : Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. LÄS MER

  3. 2. Virtual Holonomic Constraints: from academic to industrial applications

    Författare :Daniel Ortiz Morales; Anton Shiriaev; Leonid Freidovich; Ivan Kalaykov; Umeå universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Virtual Holonomic Constraints; modeling; control; motion planning; under-actuated systems; forestry cranes; hydraulic manipulators;

    Sammanfattning : Whether it is a car, a mobile phone, or a computer, we are noticing how automation and production with robots plays an important role in the industry of our modern world. We find it in factories, manufacturing products, automotive cruise control, construction equipment, autopilot on airplanes, and countless other industrial applications. LÄS MER

  4. 3. Intrinsic Formation and Macroscopic Intervention in Multi-agent Systems

    Författare :Silun Zhang; Xiaoming Hu; Johan Karlsson; Jorge Goncalves; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Attitude control; agents and autonomous systems; distributed control; formation control; nonlinear systems; moment based modelling; large- scale systems; reduced order modeling; nonlinear system identification; Mathematics; Matematik;

    Sammanfattning : In this dissertation, we study two problems within the field of the multi-agent systems theory. One is the formation control for multiple reducedattitudes, which are extensively utilized in many pointing applications and under-actuated scenarios for attitude maneuvers. LÄS MER

  5. 4. Relative Information Based Distributed Control for Intrinsic Formations of Reduced Attitudes

    Författare :Silun Zhang; Xiaoming Hu; Junfeng Wu; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Attitude control; distributed control; formation control; nonlinear systems; Mathematics; Matematik;

    Sammanfattning : This dissertation concerns the formation problems for multiple reduced attitudes, which are extensively utilized in many pointing applications and under-actuated scenarios for attitude maneuvers. In contrast to most existing methodologies on formation control, the proposed method does not need to contain any formation errors in the protocol. LÄS MER

  7. 5. Tactile Grasping for Domestic Service Robots : Simulations, Experiments and Hand Design

    Författare :Johan Tegin; Jan Wikander; Rüdinger Dillman; KTH; []
    Nyckelord :Manipulators; Simulation; Robot tactile systems; Modeling; Grasping; Tactile sensors; Mechanical engineering; Maskinteknik;

    Sammanfattning : This thesis presents methods and tools for robotic grasping. The application in mind is service robots for a home environment, although the work also has applications in other areas. Service robots must be capable of manipulation, i.e. LÄS MER