Global ETD Search
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Showing 1 to 12 of 12 for “"Cartesian space"”.
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Comparison of robotic positional control strategies
… of robotic positional controllers - Joint Space control, Cartesian Space control and adaptive control. The criteria used for comparison were the maximum trajectory error, the maximum electrical controller.
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Learning control of bipedal dynamic walking robots with neural networks
… its weakness at covering high dimensional input spaces. To overcome this problem, a self-organizing scheme of data clustering is explored. This system is applied successfully in a biped walking robot system with a supervised learning mode. Generalized Virtual Model Control (GVMC) is also proposed …
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Spacecraft Trajectory Planning for Optimal Observability using Angles-Only Navigation
… maneuvers and trajectory planning methods for spacecraft under constrained relative motion. The resulting contribution is a guidance method for impulsive rendezvous and proximity operations valid for elliptic orbits of arbitrary eccentricity.</p> <p>The system dynamics describe the relative …
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Autonomous Dynamic Grasping with a Robotic Arm: Real-Time Motion Prediction and Adaptive Control
… estimating its velocity, and generating tailored Cartesian-space trajectories to ensure the robot’s end-effector coincides with the object's position at the precise time required for successful grasping. The presented work addresses the development, optimization, and hardware implementation of a …
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Trajectory Generation for a Multibody Robotic System: Modern Methods Based on Product of Exponentials
… method is applied to generate constrained joint-space trajectories corresponding to straight-line and curvilinear motions of the end effector in Cartesian space with finite jerk. The second approach describes Constant Screw Axis (CSA) trajectories which are generated using Machine Learning (ML) …
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Development and implementation of a multi-axial real-time hybrid simulation framework
… boundary conditions on the physical specimen in Cartesian (global) coordinates. First, a kinematic transformation is derived to impose the six-degree-of-freedom motion to the loading platform in three-dimensional Cartesian space. Then, a linearized model of the multi-actuator loading assembly is …
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Building and controlling fluidically actuated soft robots : from open loop to model-based control
… to enable the soft arms to move in confined spaces, and to autonomously perform object grasping. Leveraging the models for impedance and dynamics, we also demonstrate dynamic arm motions and end-effector interactions of the arm with an environment. Our dynamic model allows the application of …
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A race toward the origin between n random walks
… random walks on lines parallel to the x-axis in Cartesian space. The particles act completely independently of each other and have, in general, different starting coordinates. In the discrete time situation, the motion of the n particles is governed by n independent streams of Bernoulli trials …
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Visualization for Solving Non-image Problems and Saliency Mapping
… its attributes, locating pairs in the same 2-D Cartesian space, and assigning greyscale intensities or colors to the pairs. There are several parameters that can be changed producing several versions of CPC-R images allowing to optimize images for classification. This thesis reports the results …
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Canonical solution groups of a homomorphism : manipulator kinematics, nonparametric regression and distributed object systems
… inverse funct.ion that maps the scalar and Cartesian base space coordinates to solution element fibre coordinates may be defined. A direct inverse pararneterisation of a solution element may be approximated by a local linear map generated by an inverse augmented Jacobian correction of a …
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Anthropomorphe Bewegungsmodelle für Roboter-Mensch-Übergaben
… are modeled in two different configuration spaces. Thus, the first model is related to the Cartesian trajectory of the end effector and the second model is related to the joint motions of specific joints of the arm. Starting from the models, the recording of the baseline data is a challenge. …
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Property Inference Decision-Making and Decision Switching of Undergraduate Engineers: Implications for Ideational Diversity & Fluency through Movements in a Cartesian Concept Design Space
… design fixation within the conceptual design space. CAT_Switching conditions could encourage more creative design transformations with alternative design functions through inductive inferences that generalise between dissimilar artefact designs. The findings from this study led to proposing a …