Sökning: "kinematic control. Redundant"

Hittade 4 avhandlingar innehållade orden kinematic control. Redundant.

  1. 1. Kinematic control of redundant knuckle booms

    Författare :Björn Löfgren; KTH; []
    Nyckelord :manipulator; kinematic control. Redundant;

    Sammanfattning : A kinematically redundant four degrees of freedommanipulator arm, a knuckle boom, is studied. Three joints arerevolute and one linear. Since only three degrees of freedomare needed for positioning, we have one redundant degree offreedom. Three different kinematic control strategies arestudied. LÄS MER

  3. 2. Kinematic Control of Redundant Knuckle Booms with Automatic Path Following Functions

    Författare :Björn Löfgren; Jan Wikander; Arto Finland Helsinki University of Technology Visala; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Hydraulic manipulator; redundancy; kinematic control; local optimization; knuckle boom; forest machine; forwarder; boom tip control; joystick control; simulations; path following; Construction engineering; Konstruktionsteknik;

    Sammanfattning : To stay competitive internationally, the Swedish forestry sector must increase its productivity by 2 to 3% annually. There are a variety of ways in which productivity can be increased. One option is to develop remote-controlled or unmanned machines, thus reducing the need for operator intervention. LÄS MER

  4. 3. 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

  5. 4. 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