Sökning: "kinematic control"
Visar resultat 1 - 5 av 55 avhandlingar innehållade orden kinematic control.
Sammanfattning : Good models of industrial robots are necessary in a variety of applications, such as mechanical design, performance simulation, control, diagnosis, supervision and offline programming. This motivates the need for good modelling tools. In the first part of this thesis the forward kinematic modelling of serial industrial robots is studied. LÄS MER
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
Sammanfattning : This thesis covers areas within estimation and optimal control of vehicles, in particular four-wheeled vehicles. One topic is how to handle delayed and out-of-sequence measurements (OOSMs) in tracking systems. LÄS MER
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
Sammanfattning : This licentiate thesis is focusing on the modeling, control and path planning problems for an articulated vehicle. Based on a novel error dynamics modeling approach, the nonlinear kinematic model of the vehicle has been transformed in a linear switching model representation, which is also able to take under consideration the effect of slip angles, a factor that significantly deteriorates the overall system approach. LÄS MER