Results 211 to 220 of about 52,202 (265)
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On kinematic control extremals
2013 European Control Conference (ECC), 2013This paper suggests the possible means for optimal kinematic control problems classification. The classification is partially illustrated by two examples with state-constraints taken from the mechanics of controlled systems. The first of these is connected with the application of kinematic control problems to the inference of the general mathematical ...
V. V. Alexandrov, M. A. Budninskiy
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User-controlled kinematic modeling
Advanced Robotics, 1997Kinematic modeling of robotic arms is essential for robot control and calibration. The models used usually encompass matrix representation of the geometric behavior of the robot joints. The parameters of kinematic models should be designed such that the spatial relations between the successive joint axes are adequately described.
Ibrahim A. Sultan, John G. Wager
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Inverse kinematics for control of JINPOONG
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2013JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG.
Jin Tak Kim +3 more
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Controlling dynamic simulation with kinematic constraints
ACM SIGGRAPH Computer Graphics, 1987Theoretical and numerical aspects of the implementation of a DYNAmic MOtion system, dubbed DYNAMO, for the dynamic simulation of linked figures is presented. The system introduces three means for achieving, control of the resulting motion which have not been present in previous dynamic simulation systems for computer animation.
Paul M. Isaacs, Michael F. Cohen
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Kinematic path control of robot arms
Robotica, 1986SUMMARYPath planning of the end effector motion is here treated from the viewpoint of the path invariance under the transformations of its parametrical representation. Thus, a new method for path planning of the robot arm motion is being developed. Both the problems of finding the end effector time optimal motion and the end effector motion with a ...
Evgeny Krustev, Ljubomir Lilov
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Controlling chaotic robots with kinematical redundancy
Chaos: An Interdisciplinary Journal of Nonlinear Science, 2006Robots with kinematical redundancy under the pseudoinverse control exhibit undesirable chaotic joint motion, which leads to erratic behaviors. In this study, we used the delayed feedback method to control chaotic motions of a planar 3R rigid and a planar 3R flexible redundant robot under the pseudoinverse control when the end-effector traces a closed ...
Li, Li +3 more
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Kinematics of eye movement control
Proceedings of the Royal Society of London. Series B: Biological Sciences, 1995In this paper a kinematic description of the restrictions imposed on the eye movements is presented. The restrictions arise from a pattern of nonlinear interactions between desired changes in viewing direction and current eye position. It is shown that various reported relations between eye torsion and viewing direction can be derived by changing only ...
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Kinematic Control of Robots With Joint Constraints
Journal of Dynamic Systems, Measurement, and Control, 1999Kinematic control of robot manipulators requires that joint mechanical limits are taken into account in order to avoid the interruption of the task at hand if joint limits are reached. A novel approach to this problem is presented and compared with state of the art techniques.
ALLOTTA, Benedetto +2 more
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Archives italiennes de biologie, 2002
The planar law of inter-segmental co-ordination we described may emerge from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle contraction intervenes at variable times to re-excite the intrinsic oscillations of the system when energy is lost. The hypothesis that a law of coordinative control results from
LACQUANITI, FRANCESCO +2 more
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The planar law of inter-segmental co-ordination we described may emerge from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle contraction intervenes at variable times to re-excite the intrinsic oscillations of the system when energy is lost. The hypothesis that a law of coordinative control results from
LACQUANITI, FRANCESCO +2 more
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Mechanical Control Systems and Kinematic Systems
IEEE Transactions on Automatic Control, 2008The aim of this technical note is to analyze the equivalence between the second-order equations describing the dynamics of mechanical systems, and the associated kinematic system when dealing with nonholonomic systems with controls. If the system is fully actuated, both systems are equivalent.
Miguel C. Muñoz-Lecanda +1 more
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