Results 91 to 100 of about 24,745 (249)
Robust adaptive kinematic control of redundant robots [PDF]
The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end ...
Tarokh, M., Zuck, D. D.
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Seismic imaging of the critical zone of dolerite dykes at Cap Fréhel in Brittany (France)
Near Surface Geophysics, EarlyView.Abstract In June 2023, we measured ten near‐surface seismic profiles to image the critical zone of dolerite (diabase) dykes that cut the sandstone at Cap Fréhel in Brittany (France). Seismic ray tracing and inversion are used to determine the thickness of the regolith layer from first‐arrival P‐wave traveltimes.
M. Zillmer +4 more
wiley +1 more source
Task-priority redundancy resolution on acceleration level for underwater vehicle-manipulator system
International Journal of Advanced Robotic Systems, 2017 A task-priority redundancy resolution with restoring moments optimized on acceleration level for the underwater vehicle-manipulator system is investigated in this article.
Qirong Tang +4 more
doaj +1 more source
Sliding Mode Control in Aerospace Applications: A Survey
International Journal of Robust and Nonlinear Control, EarlyView.ABSTRACT Sliding mode control (SMC) enjoys robustness to matched and unmatched (in the case of minimum phase input‐output dynamics) bounded perturbations, and finite time convergence. Second‐order and higher‐order sliding mode control systems (2‐SMC/HOSMC) retain all the advantages of sliding mode control, but in addition can be applied to systems of ...
Yuri Shtessel, Christopher Edwards
wiley +1 more source
Cartesian control of redundant robots [PDF]
A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian ...
Colbaugh, R., Glass, K.
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Analysis of optimal control problem formulations in skeletal movement predictions [PDF]
, 2012 Postprint (published ...
De Groote, Friedl +2 more
core
Redefining Optimal Coverage Path Planning for FLS‐Equipped AUVs With Deep Reinforcement Learning
Journal of Field Robotics, EarlyView.ABSTRACT Autonomous Underwater Vehicles (AUVs) have emerged as indispensable tools for a variety of subsea tasks, from habitat monitoring and seabed mapping to infrastructure inspection and mine countermeasures. A fundamental challenge in this field is Coverage Path Planning (CPP), the problem of ensuring complete and efficient area coverage.
Lorenzo Cecchi +3 more
wiley +1 more source
GEOMETRIC AND KINEMATIC OF SERIAL ROBOT [PDF]
Analele Universităţii "Constantin Brâncuşi" din Târgu Jiu: Seria Inginerie, 2019 The paper presents the mobility calculation, geometry and kinematics of a robot arm. It is a serial robot whose main spatial kinematic chain consists of four revolute joints.
Ovidiu Antonescu +2 more
doaj
Key Technical Fields and Future Outlooks of Space Manipulators: A Survey
SmartBot, EarlyView.This paper systematically reviews the technological development of space manipulators, emphasizing the unique challenges posed by space environments. It examines four areas: structural design, modeling, planning, and control, while introducing typical ground test platforms.
Gang Chen +12 more
wiley +1 more source
Base reaction optimization of redundant manipulators for space applications [PDF]
One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the ...
Chung, C. L., Desa, S., Desilva, C. W.
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