Sökning: "kinematic control"

Visar resultat 1 - 5 av 55 avhandlingar innehållade orden kinematic control.

  1. 1. On Kinematic Modelling and Iterative Learning Control of Industrial Robots

    Författare :Johanna Wallén; Mikael Norrlöf; Svante Gunnarsson; Geir Hovland; Linköpings universitet; []
    Nyckelord :ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Industrial robots; kinematics; Maple; modelling; iterative learning control; experiments; Automatic control; Reglerteknik;

    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

  2. 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 :ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; 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

  3. 3. Particle Filtering and Optimal Control for Vehicles and Robots

    Författare :Karl Berntorp; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; particle filtering; optimal control; automotive systems; out-of-sequence measurement; autonomy; model predictive control; sensor fusion; wheel slip; dynamic optimization;

    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

  4. 4. 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

  5. 5. Modeling, control and path planning for an articulated vehicle

    Författare :Thaker Nayl; Luleå tekniska universitet; []
    Nyckelord :ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; Control Engineering;

    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