Titlebook: Robot Motion and Control 2007; Krzysztof Koz?owski Conference proceedings 2007 Springer-Verlag London 2007 Quad.ROM.Tracking.Trend.actuato

連鎖,連串

xanthelasma

Vision-Based Dynamic Velocity Field Generation for Mobile Robotsrs located at each possible position of the robot platform inside its workspace coding a specified task [1]. The employment of a control scheme whose reference is a velocity field has allowed to encourage different control problems rather than the conventional timed trajectory tracking, such as cont

SOW

Zoom Control to Compensate Camera Translation Within a Robot Egomotion Estimation Approachg the size of object projections not only permits analysing objects at a higher resolution, but it also may improve tracking and, therefore, subsequent 3D motion estimation and reconstruction results. Of further interest to us, zoom control enables much larger camera motions, while fixating on the s

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ULCER

Control for a Three-Joint Underactuated Planar Manipulator - Interconnection and Damping Assignment ]. Recently, it has become known that some underactuated mechanical systems, i.e. systems with less degrees of freedom than the number of generalized coordinates, can be controlled in this frame-work [2, 3]. This control method is practicable since it is expected that passivity will provide the robu

ELATE

HAWK

An Inverse Dynamics-Based Discrete-Time Sliding Mode Controller for Robot Manipulatorsposed, such as feedback linearization [1], model predictive control [2], as well as sliding mode or adaptive control [3], [4], [5]. The basic idea of feedback linearization, known in the robotic context as inverse dynamics control [6], [7], is to exactly compensate all the coupling nonlinearities in

synchronous

Velocity Tracking Controller for Rigid Manipulatorss this problem, leads to a decoupled system. There exist, however, some other developments based on searching a canonical transformation. The existence of such transformation was discussed by Spong [8]. The necessary and sufficient conditions which ensure that we obtain the canonical variables are v

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