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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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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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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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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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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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Kinematic control of redundant robot manipulators: A tutorial
Journal of Intelligent and Robotic Systems, 1990In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian, those based on the local optimization ...
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A Control Concept for Parallel Kinematics
2006In machine tools with parallel and hybrid kinematics new problems arise in comparison to standard machines, such as inherently nonlinear dynamics, machine vibrations due to elasticities especially because of the lightweight construction and independently controllable drives being infeasible due to the parallel kinematics.
Alexandra Ratering, Peter Eberhard
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