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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.
L.A. Nguyen +2 more
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Behavioral Coordinated Kinematic Control
2019Aerial Robotic Manipulators are systems characterized by a large number of degrees of freedom. The designer’s aim, in addition to move the end-effector, is to take into account, at the same time, several additional control objectives such as, for example, all the safety-related tasks.
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On kinematically controlled mechanical systems
Journal of Applied Mathematics and Mechanics, 1964Es wird ein System von \(n\) Massenpunkten mit \(r\) holonomen und \(s\) parametrischen Zwangsbedingungen behandelt. Die Kontrollparameter werden als Funktionen der Koordinaten und der Zeit vorausgesetzt. Die Bewegungsgleichungen werden abgeleitet und formen mit den erwähnten Gleichungen ein vollständiges Gleichungssystem zur Bestimmung der Lagrange ...
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Basics of Kinematic Robot Control
2014The third part of this work is devoted to simulated robot devices, learning models of their kinematic structure, and using these models for simple directional control tasks such as reaching for objects. Learning is realized by algorithms that mimic brain function at least to some degree.
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Kinematic Abstractions for General Manipulator Control
Volume 1: 25th Design Automation Conference, 1999Abstract Robot kinematics generally includes forward and inverse kinematics at the position, velocity, and acceleration level. These constructs are essential for the cartesian control of serial manipulators. This paper presents the development of a C++ class library that supports the forward and inverse kinematics of all possible ...
Chetan Kapoor, Delbert Tesar
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Boundary kinematic control of a distributed oscillatory system
Journal of Applied Mathematics and Mechanics, 2007The author discusses a problem on boundary kinematic control for one-dimensional oscillatory systems with distributed parameters on a finite time interval. Displacement of one end is assumed to be regulated while the other end is considered to be free.
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HEMI-KINEMATICS-BIO-CONTROL (H.K.B.C)
2013EMG-Biofeedback heilt nicht, es spiegelt lediglich muskulare Spannungszustande wider! Um diese zu deuten, sind Kenntnisse uber neuromuskularen Zusammenhange (z. B. Kenntnisse der sensomotorischen Entwicklung, normaler alltaglicher Bewegungsprozesse etc.) sowie die Interpretation des EMG-Biofeedbacks unabdingbar.
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Kinematic Formation Control Using Q-structures
2011Beyond single-helicopter control, this book also touches on formation control of multiple helicopters. In Chapter 7, the concept of the Q-structure is introduced as a novel and flexible methodology to define and support a large variety of formations. The Q-structure allows automatic scaling of formations according to changes in the overall size of the ...
Beibei Ren +4 more
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Control based on the kinematic model
1983It has been shown that the geometrical model cannot always be used, for example when a robot is non-resolvable, and gives an approximation that is not encountered in practice. This sometimes results in control problems (speed control, accuracy and overshooting etc).
Philippe Coiffet, Michel Chirouze
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Flexible Control of Complex Kinematic Chains
2012Robots providing meaningful services in unconstraint environments require advanced mobility, manipulation, sensing and perception capabilities. KUKA’s task in DESIRE was to develop robot arms and control hardware and software that are flexible with respect to the number of degrees of freedom and their connections to build kinematic chains and the type ...
Rainer Bischoff +5 more
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