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Unscented Optimization and Control Allocation

open access: yes, 2018
The disclosure provides a robotic arm controller which determines a control parameter for at least one actuator comprising the robotic arm using a control equation having the general form Ax=b, where A is a transformation matrix A based on the geometry and Jacobian of the robotic arm, x is the control parameter x such as a torque vector at a specific ...
Ross, Isaac Michael   +2 more
openaire   +1 more source

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