Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 5 of 5 for “"Singularity avoidance"”.
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Optimizing Non-Convex Objectives to Plan More Optimal Motion for Manipulators
… constraint. We explore multiple formulations for singularity avoidance and empirically demonstrate that integrating these objectives into DiffIK improves motion quality for teleoperation for the RBY-1 robot.
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The Variable Vector Countermeasure Suit for space habitation and exploration
… a brassboard prototype unit. Steering laws for singularity avoidance and resetting the gimbal angles have been presented, and will be tested with the brassboard unit. Additionally, a proposed method for measuring torque output from the unit has been presented.
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The development of Zero-G class underwater robots: unrestricted attitude control using control moment gyros
… desired torques, whilst guaranteeing real-time singularity avoidance within a constrained workspace.<br/><br/>The development of the CMG actuated Zero-G Class underwater robot IKURA is described. This is the first Zero-G Class prototype and is the first application of CMGs to underwater robots. …
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Robust Adaptive Estimation for Autonomous Rendezvous in Elliptical Orbit
… covariance transformations associated with the singularity avoidance switching technique. An attitude control law based on backstepping is employed to track the target vehicle. A sensor suite consisting of a generic lidar or optical sensor, an Inertial Measurement Unit, consisting of …
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Ανάπτυξη συστημάτων ελέγχου για συνεργασία ρομπότ-ανθρώπου σε χειρισμούς αντικειμένων
Η συνεργασία ανθρώπου-ρομπότ αποτελεί αντικείμενο έρευνας που στοχεύει στον συμπληρωματικό συνδυασμό των δεξιοτήτων του ανθρώπου και των ιδιοτήτων ενός ρομπότ. Τα πιο σημαντικά χαρακτηριστικά ενός ρομποτικού βραχίονα είναι η ικανότητα κίνησης με υψηλή ακρίβεια, η επαναληψιμότητα, και η ικανότητα να …