Results 221 to 230 of about 52,202 (265)
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Kinematic Control of Platoons of Autonomous Vehicles
IEEE Transactions on Robotics, 2006In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics.
ANTONELLI, Gianluca, CHIAVERINI, Stefano
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Kinematic Modeling and Control
2008This chapter describes the kinematic modeling of a car-like mobile robot. Kinematic modeling is often used because of its simplicity and accuracy in predicting the car’s behavior under normal driving conditions. This type of modeling uses the nonholonomic constraints of the system as described in Section 2.3.
Patricia Mellodge, Pushkin Kachroo
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1989
As pointed out in Section 1.2, the tasks for which robots are applied in industry and other fields are of very diverse complexity. The more complex the task a robot has to perform and the more strict the requirements for its performing, the more complex should be the control system of the robot.
Miomir Vukobratović, Dragan Stokić
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As pointed out in Section 1.2, the tasks for which robots are applied in industry and other fields are of very diverse complexity. The more complex the task a robot has to perform and the more strict the requirements for its performing, the more complex should be the control system of the robot.
Miomir Vukobratović, Dragan Stokić
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Adaptive kinematic control of robot tracking
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2011This paper presents a distributed robust adaptive controller for multiple mobile robots engaged in cooperative tracking and capturing of moving target object. The proposed controller guarantees asymptotic convergence of distributed multi-robot locations to the desired distance enclosing the moving target object.
Shin-Guk Kim +4 more
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Kinematic control of a platoon of autonomous vehicles
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2004In this paper a strategy to control the motion of platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics.
ANTONELLI, Gianluca, CHIAVERINI, Stefano
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2013
A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. A generic manipulation task is usually given in terms of trajectories for the end effector, specially position and orientation.
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A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. A generic manipulation task is usually given in terms of trajectories for the end effector, specially position and orientation.
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A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant
IEEE Transactions on Robotics, 2014We present a new variable curvature continuum kinematics for multisection continuum robots with arbitrarily shaped backbone curves assembled from sections with three degrees of freedom (DoFs) (spatial bending and extension, no torsion). For these robots, the forward kinematics and the differential forward kinematics are derived.
Tobias Mahl +2 more
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Kinematics, dynamics and control of a hybrid robot Wheeleg
Robotics and Autonomous Systems, 2003Abstract In this paper, we propose a mathematical model for the kinematics of a hybrid robot, called Wheeleg. The wheeled-legged robot has two pneumatically actuated front legs, each with three degrees of freedom, and two rear wheels independently actuated. Based on the proposed model, the dynamics equations of the manipulator are developed using the
LACAGNINA, Michele +2 more
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Robustness issues in kinematically redundant manipulator control
[1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1995Kinematic redundancy of robotic manipulators has been known to be useful in accomplishing additional performance on top of the main task of tracking desired end effector trajectories. Robustness has been a major concern in manipulator control where exact physical properties of manipulators are unobtainable.
Luong A. Nguyen +2 more
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Generalized Kinematic Control of Redundant Manipulators
2007Recently, an interest has increased in applying redundant manipulators in useful practical tasks which are specified in terms of a time parameterized geometric path (a trajectory) to be tracked by the end-effector. Redundant degrees of freedom make it possible to achieve some useful objectives such as collision avoidance in the task space with ...
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