Lecture Notes in Control and Information Sciences doc

... Lecture Notes in Control and Information Sciences 229 Editor: M. Thoma Guidelines in Nonholonomic Motion Planning for Mobile Robots 31 robot ~~~ first ... kinematic model of the two-driving wheel mobile robot. The main difference lies on the admissible control domains. Here the constraints on v and w are no longer independent. Indeed, by setting ... consists in pu...

Ngày tải lên: 27/06/2014, 18:20

... Force Control (CFC) and compliant motion control • Redundant manipulators and Redundancy Resolution (RR) • Adaptive and robust control Position control strategies are inadequate for tasks involving ... involving interaction with a compliant environment. Therefore, defining control schemes for tasks which demand extensive contact with the environment (such as assembly, grinding...

Ngày tải lên: 05/03/2014, 15:20

... 3-540-76219-1 Springer-Verlag Berlin Heidelberg New York British Library Cataloguing in Publication Data Robot motion planning and control. - (Lecture notes in control and information sciences ; ... in putting Ivl - 1 and even v _= 1; by ref- erence to the work in [65] and [22] on the shortest paths in the plane with Guidelines in Nonholonomic Motion Planning...

Ngày tải lên: 22/03/2014, 11:20

... characteristicinworking coordinate by using nonlinearcoordinate transform between the working coordinate andthe joint coordinate aboutarticulatedrobot arm. (2) Servo Controller of IndustrialMechatronic ... fieldsofmodeling, analysis and controller design control. It is from the introduction to the following chapters till 7. In theintroduction, the outlineofmechatronic servosystem and it...

Ngày tải lên: 13/02/2014, 08:20

... optimal coordination and control of multi-fingered hands for grasping and regrasping. The method is applied to an experimental setup consisting of a hand with hydraulically driven fingers which ... Identifying motion inducing and internal stress com- ponents of (~ Y) 108 4.3.2 Choosing matrix M 109 4.4 Modeling of ldnematic coupling effects 112 4.5 Derivation of rigid body mode...

Ngày tải lên: 05/03/2014, 15:20

... scales and formats. The proposed system should also possess the following functions: spatial data editing and processing, spatial modeling, epidemic information querying and publishing, epidemic ... geoinformatics are influencing one another. For example, GIS is used in displaying and undertaking spatial analysis for genome studies (Dolan 2006) and in tracking global genet...

Ngày tải lên: 17/02/2014, 20:20

... at the beginning of each invest- ment interval. In other words: the Itˆo integral is non-anticipating, and hence the appropriate concept for finance (in contrast to other stochas- tic integrals ... found in the year 1940 by the German-French mathematician Wolfgang D¨oblin. For the tragic fate and the mathematical legacy of W. D¨oblin see Bru and Yor (2002). Introduction The lecture...

Ngày tải lên: 22/02/2014, 06:20

... resolution and the implications of the scheduling problem. Integration of sensing, planning and control in a manufacturing work-cell represents an attractive problem in intelligent control. A ... force and motion control in a single direction has been introduced in the Hybrid control approach, first in [10, 8], where it is termed feedforward motion in a force cont...

Ngày tải lên: 05/03/2014, 15:20

... platforms for materials handling in industry, warehouses, hospitals, etc.; forestry cut- ting and undergrowth management equipment; autonomous fire-fighting machines; mining machinery; advanced electrical ... handling in industry, floor cleaning, semi-autonomous wheel chairs, semi-automatic de-mining, mining trucks, semi-autonomous cars, etc. As these tasks are being automated, a c...

Ngày tải lên: 28/03/2014, 14:20

... knowl- edge of different disciplines. Among these, electrical engineering, mechanical engineering, industrial engineering, computer science and applied mathemat- ics. Hence, robotics incorporates a variety ... France British Library Cataloguing in Publication Data Kelly, R. Control of robot manipulators in joint space. - (Advanced textbooks in control and signal processing) 1. Ro...

Ngày tải lên: 27/06/2014, 14:20