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Visar resultat 1 - 5 av 44 avhandlingar som matchar ovanstående sökkriterier.
1. Optimization-based robot grasp synthesis and motion control
Sammanfattning : This thesis investigates the questions of where to grasp and how to grasp a given object with an articulated robotic grasping device. To this end, aspects of grasp synthesis and hand motion planning and control are investigated. LÄS MER
2. Robot Manipulation Planning Among Obstacles: Grasping, Placing and Rearranging
Sammanfattning : This thesis presents planning algorithms for three different robot manipulation tasks: fingertip grasping, object placing and rearranging. Herein, we place special attention on addressing these tasks in the presence of obstacles. LÄS MER
3. An industrial robot as carrier of a laser profile scanner : motion control, data capturing and path planning
Sammanfattning : Geometric Reverse Engineering (RE) is concerned with the problem of creating CAD-models of real objects by measuring point data from their surfaces. In the aim of creating a fully automatic RE system there is a need to automate also the measuring process. LÄS MER
4. Multi-Robot Motion Planning Optimisation for Handling Sheet Metal Parts
Sammanfattning : Motion planning for robot operations is concerned with path planning and trajectory generation. In multi-robot systems, i.e. with multiple robots operating simultaneously in a shared workspace, the motion planning also needs to coordinate the robots' motions to avoid collisions between them. LÄS MER
5. Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking
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