Sökning: "robot motion planning"

Visar resultat 21 - 25 av 44 avhandlingar innehållade orden robot motion planning.

1. 21. Efficient Structure and Motion: Path Planning, Uncertainty and Sparsity

   Författare :Sebastian Haner; Matematik LTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES;

   Sammanfattning : This thesis explores methods for solving the structure-and-motion problem in computer vision, the recovery of three-dimensional data from a series of two-dimensional image projections. The first paper investigates an alternative state space parametrization for use with the Kalman filter approach to simultaneous localization and mapping, and shows it has superior convergence properties compared with the state-of-the-art. LÄS MER

3. 22. On Robot Feedback from Range Sensors : Reliable Control by Active Reduction of Uncertainty and Ambiguities

   Författare :Jonas Nygårds; John Hallam; Linköpings universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; robot gripping and docking; LQG-feedback; posture estimation; Gaussian sum; optronic sensing; sheet of light range camera; time-of-flight laser; specular reflection s; multiple scattering; range ghosts ; active reduction of ambiguities; reliability; uncertainty; tolerances;

   Sammanfattning : This thesis is on modelling and experimental tests when non contact sensing isused for feedback control in robotics. The motion of the robot is to be controlled relative to objects in the surrounding workspace during operations like gripping/docking, surface following, shape measuring etc. LÄS MER

4. 23. Applications of the Virtual Holonomic Constraints Approach : Analysis of Human Motor Patterns and Passive Walking Gaits

   Författare :Uwe Mettin; Anton Shiriaev; Umeå universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Motion Planning; Humanoid Robots; Virtual Holonomic Constraints; Underactuated Mechanical Systems; Mechanical Springs; Automatic control; Reglerteknik;

   Sammanfattning : In the field of robotics there is a great interest in developing strategies and algorithms to reproduce human-like behavior. One can think of human-like machines that may replace humans in hazardous working areas, perform enduring assembly tasks, serve the elderly and handicapped, etc. LÄS MER

5. 24. Mathematical Modelling for Load Balancing and Minimization of Coordination Losses in Multirobot Stations

   Författare :Edvin Åblad; Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik (FCC); []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; decomposition; mathematical modelling; Voronoi diagram; set packing; automotive manufacturing; Smart Assembly 4.0; continuous collision detection; motion planning; vehicle routing; makespan minimization;

   Sammanfattning : The automotive industry is moving from mass production towards an individualized production, in order to improve product quality and reduce costs and material waste. This thesis concerns aspects of load balancing of industrial robots in the automotive manufacturing industry, considering efficient algorithms required by an individualized production. LÄS MER

7. 25. Methods for Direct Optimal Control of Multibody Systems

   Författare :Staffan C Björkenstam; Chalmers tekniska högskola; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; discrete mechanics; robotics; Optimal control; motion planning; multibody dynamics; digital human modeling;

   Sammanfattning : In this thesis we present practical tools and techniques to numerically solve optimal control problems involving multibody systems. The driving application for the thesis has been developing motion planning tools for industrial robots and digital humans. LÄS MER