Results 251 to 260 of about 10,166,528 (298)
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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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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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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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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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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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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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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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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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