Results 171 to 180 of about 2,057 (208)
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Consensus Control for Underactuated Vehicles
IFAC Proceedings Volumes, 2011Abstract A consensus control framework for configuration of two underactuated planar rigid bodies is developed. Following the result by Bullo et al. (2000) and modifying the framework of Hutagalung et al. (2008), we propose a control law that achieves asymptotic consensus between the planar rigid bodies. Finally, we present a numerical example to show
Maclaurin Hutagalung +2 more
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2017
Provided is a robotic hand which includes a palm, a plurality of phalanges adapted to reproduce a plurality of fingers, and an actuating mechanism. The actuating mechanism may include a first pulley located at each hinge and bound to the first element, second pulleys located at each of the hinges and bound to the second element, a single cable running ...
Bicchi A +5 more
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Provided is a robotic hand which includes a palm, a plurality of phalanges adapted to reproduce a plurality of fingers, and an actuating mechanism. The actuating mechanism may include a first pulley located at each hinge and bound to the first element, second pulleys located at each of the hinges and bound to the second element, a single cable running ...
Bicchi A +5 more
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Geometric Maneuvering for Underactuated VTOL Vehicles
IEEE Transactions on Automatic ControlzbMATH Open Web Interface contents unavailable due to conflicting licenses.
Shizhen Wu +3 more
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Control properties of underactuated vehicles
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002This paper studies control properties of the dynamics of underactuated vehicles (e.g. underactuated surface vessels, underwater vehicles, aeroplanes or spacecraft). The unactuated dynamics implies constraints on the accelerations. Both the necessary and sufficient conditions for these constraints to be second-order nonholonomic, first-order ...
K.Y. Wichlund, O.J. Sordalen, O. Egeland
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Modal Control of Underactuated Systems
Volume 5: 22nd International Conference on Design Theory and Methodology; Special Conference on Mechanical Vibration and Noise, 2010This work addresses the modal control of underactuated mechanical systems, whereby the number of actuators is less than the degree-of-freedom of the underlying mechanical system. The performance of the control system depends on the structure of the feedback gain matrix, that is, the coupling between sensors and actuators.
D. Dane Quinn, Vineel Mallela
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Analysis of Underactuated Mechanical Grippers
Journal of Mechanical Design, 1998This paper presents the concept of underactuation applied to grippers and mechanical hands. The main objective of this work is the kinematic analysis and design of underactuated mechanisms. First, the kinematic and static modeling of these mechanisms is addressed and a general kinetostatic model is proposed.
Serge Montambault, Cle´ment M. Gosselin
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Optimal Motions for Underactuated Manipulators
Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 1999Abstract In this paper we develop an algorithm for solving optimal control problems for underactuated open chain manipulators. A local solution to the nonlinear optimal control problem is obtained using a constrained parameter optimization procedure.
Garett A. Sohl, James E. Bobrow
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Transport Control of Underactuated Cranes
2011Overhead cranes are important equipments that are used in many industries. They belong to underactuated mechanical systems. Since it is hard to obtain an accurate model for control design, this paper presents a design scheme for the transport control problem of overhead cranes with uncertainties.
Dianwei Qian, Boya Zhang, Xiangjie Liu
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Control of Underactuated Marine Vehicles
2021The kinematics and dynamics of underactuated marine vehicles must be taken into account during control design, significantly more so than when developing controllers for fully-actuated vehicles. Here, we first present some of the specialized terminology used to define the main features of underactuated systems, the types of constraints (e.g.
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