Results 231 to 240 of about 309,612 (268)

Minimum jerk for trajectory planning and control

Robotica, 1994
SUMMARYIt has been experimentally verified that the jerk of the desired trajectory adversely affects the performance of the tracking control algorithms for robotic manipulators. In this paper, we investigate the reasons behind this effect, and state the trajectory planning problem as an optimization problem that minimizes a norm of joint jerk over a ...
Kostas J. Kyriakopoulos, George N. Saridis   +1 more
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Trajectory tracking control

1998
In this chapter we extend the passivity-based method, developed for regulation in the previous chapter, to solve trajectory tracking problems. The first main modification that we have to make is that for tracking, besides reshaping the potential energy of the EL plant, we must also shape the “kinetic energy” function.
Romeo Ortega, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez   +3 more
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Trajectory Linearization Control for a quadrotor helicopter

IEEE ICCA 2010, 2010
The trajectory tracking problem of a quadrotor helicopters is investigated with Trajectory Linearization Control (TLC) method in this paper. Due to symmetrical structure of the quadrotor helicopters, gyroscopic effects can be neglected in its dynamical model and the model can be divided to four subsystems: position kinematics, position dynamics ...
Bing Zhu 0004, Wei Huo
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Orbits and Controlled Trajectories

1993
In celestial mechanics the term orbit describes the motion of a body in a gravitational field. A body is called a test particle if its mass is so small as not to contribute to the gravitational field of other bodies. In translational motion (i.e., neglecting the rotation of the test particle about its center of mass) the total mechanical energy is ...
V. Violi, G. Vulpetti
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Trajectory Tracking Control for Actuator Arrays

IEEE Transactions on Control Systems Technology, 2013
Actuator arrays are planar arrangements of actuators with two degrees of freedom that cooperatively translate and orient objects for efficient manipulation. This brief describes a trajectory tracking control law for macroscopic actuator arrays and its convergence properties. The control law is designed on the basis of the kinematics of an object on the
Mark Bedillion, William C. Messner
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Control of redundant robots on cyclic trajectories

Proceedings 1992 IEEE International Conference on Robotics and Automation, 2003
The authors investigate the problem of how to achieve a cyclic joint behavior in redundant robots performing cyclic tasks, motivated by the fact that most singularity-free local resolution methods produce nonrepeatable joint motions. A controllability analysis of the inverse kinematic system makes it possible to recover the well-known repeatability ...
DE LUCA, Alessandro, LANARI, Leonardo, ORIOLO, Giuseppe   +2 more
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Trajectory Desensitization in Optimal Control Problems

2018 IEEE Conference on Decision and Control (CDC), 2018
The efficacy of the so-called sensitivity function in developing desensitized optimal control schemes is studied. A sensitivity function provides information about the first order variation of the state under parameter variations at a given time instant along a trajectory.
Venkata Ramana Makkapati, Mehregan Dor, Panagiotis Tsiotras   +2 more
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Adaptive plasticity in the control of locomotor trajectory

Experimental Brain Research, 1995
Eight human subjects were exposed to 2 h of walking on the perimeter of a horizontally rotating disc with the body remaining still in space. After adaptation to this experience subjects were blindfolded and asked to walk straight ahead on firm ground.
C R, Gordon, W A, Fletcher, G, Melvill Jones, E W, Block   +3 more
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Trajectory planning and control

1993
Trajectory planning converts a description of the desired motion, such as move P1 (Figure 9.1) to a trajectory defining the time sequence of intermediate configurations of the manipulator between the start point P0 and the destination point P1.
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Local Controllability to Trajectories of the Magnetohydrodynamic Equations

Journal of Mathematical Fluid Mechanics, 2014
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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