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Differential Flatness Theory and Industrial Robotics
2015This chapter analyzes the use of nonlinear control and filtering methods to the solution of industrial robotics problems, such as the adaptive control of MIMO robotic manipulators without prior knowledge of the robot’s dynamical model, adaptive control of underactuated robotic manipulators, that is robots having less actuators than their degrees of ...
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Differential flatness and sliding mode control
2015A system is said to be differentially flat if there exists a set of independent differential functions of the state (i.e., they do not satisfy any differential equations and, additionally, they are functions of the state and of a finite number of their time derivatives), called the flat outputs.
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Differentially Flat Robots with Compliance in Actuated Joints
Most robots and mechanisms are fully actuated, i.e., the number of actuators is equal to the number of degrees of freedom (DOFs). Thus, the robot’s configuration is fully determined by imposing the position of the actuators. However, a class of robots exists, the under-actuated robots, in which the number of actuators is smaller than the number of ...Tonan M., Doria A., Bottin M., Rosati G.
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Differentiating between Hierarchical and Flat Communities
ACM SIGMETRICS Performance Evaluation ReviewAs data proliferate in the form of pairwise interactions or networks-from social media exchanges and physical infrastructures, like railways and the internet, to biological systems-extracting meaningful insights remains a significant challenge. Community detection is a pivotal task in this regard, viewing networks as groups of nodes.
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Differential flatness theory and flatness-based control methods
Gerasimos Rigatos +3 moreopenaire +2 more sources