{"id":{"repo_id":"greece","oai_identifier":"oai:10442/1669"},"canonical_url":"https://search.dev.ndltd.org/etd/greece/oai:10442/1669","repository":{"repo_id":"greece","name":"Greek National Archive of PhD Theses","base_url":"https://phdtheses.ekt.gr/eadd_oai/request"},"display":{"title":"ΠΑΡΑΛΛΗΛΟΙ ΑΛΓΟΡΙΘΜΟΙ ΣΧΕΔΙΑΣΜΟΥ ΤΡΟΧΙΑΣ ΡΟΜΠΟΤΙΚΩΝ ΒΡΑΧΙΟΝΩΝ ΚΑΙ ΑΠΟΣΥΖΕΥΞΗ ΜΗΓΡΑΜΜΙΚΩΝ ΣΥΣΤΗΜΑΤΩΝ","abstract":"THE PH.D THESIS EXAMINES THE TRAJECTORY PLANNING PROBLEM IN ROBOTICS APPLICATION. THE CASE OF CONTINUOUS TRAJECTORY PLANNING IS CONSIDERED FOR ONE AND TWO COOPERATING MANIPULATORS RESPECTIVELY. THIS PROBLEM IS REDUCED TO A MAXIMIZING PROBLEM UNDER A SET OF CONSTRAINTS. TWO APPROACHES ARE PRESENTED FOR THE SOLUTION OF THE MAXIMIZING PROBLEM. THE SECOND PART OF THE PH.D THESIS EXAMINES THE INPUT OUTPUT DECOUPLING OF NON LINEAR SYSTEMS . A PROCEDURE IS PRESENTED FOR THE CONSTRUCTION OF A SIMPLE MINIMUM ORDER PRECOMPENATOR. THE DECOUPLING IS ACHIEVED USING A FEEDBACK LOW ONCE.","abstract_html":"THE PH.D THESIS EXAMINES THE TRAJECTORY PLANNING PROBLEM IN ROBOTICS APPLICATION. THE CASE OF CONTINUOUS TRAJECTORY PLANNING IS CONSIDERED FOR ONE AND TWO COOPERATING MANIPULATORS RESPECTIVELY. THIS PROBLEM IS REDUCED TO A MAXIMIZING PROBLEM UNDER A SET OF CONSTRAINTS. TWO APPROACHES ARE PRESENTED FOR THE SOLUTION OF THE MAXIMIZING PROBLEM. THE SECOND PART OF THE PH.D THESIS EXAMINES THE INPUT OUTPUT DECOUPLING OF NON LINEAR SYSTEMS . A PROCEDURE IS PRESENTED FOR THE CONSTRUCTION OF A SIMPLE MINIMUM ORDER PRECOMPENATOR. THE DECOUPLING IS ACHIEVED USING A FEEDBACK LOW ONCE.","abstract_has_math":false,"creators":["Voliotis, Stamatis","Βολιώτης, Σταμάτιος"],"institution":"University of Patras","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1990,"date_issued":"1990","date_published":"1990","updated_at":"2026-07-24T02:25:02Z","subjects":["ΑΝΤΙΣΤΑΘΜΙΣΤΗΣ","Αποσύζευξη εισόδων εξόδων","Μη γραμμικά συστήματα","Παράλληλοι αλγόριθμοι","Ρομποτική","ΣΥΝΕΡΓΑΖΟΜΕΝΟΙ ΡΟΜΠΟΤΙΚΟΙ ΒΡΑΧΙΟΝΕΣ","Σχεδιασμός τροχιάς","COMPENSATOR","Cooperation robotic manipulators","Input output decoupling","Non linear systems","Parallel algorithms","Robotics","TRASECTORY PLANNING","Φυσικές Επιστήμες","Επιστήμη Ηλεκτρονικών Υπολογιστών και Πληροφορική","Επιστήμες Μηχανικού και Τεχνολογία","Επιστήμη Ηλεκτρολόγου Μηχανικού, Ηλεκτρονικού Μηχανικού, Μηχανικού Η/Υ","Natural Sciences","Computer and Information Sciences","Engineering and Technology","Electrical Engineering, Electronic Engineering, Information Engineering"],"languages":["gre"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["10.12681/eadd/1669"],"render_values":[{"text":"10.12681/eadd/1669","href":"https://doi.org/10.12681/eadd/1669","code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10442/hedi/1669","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Voliotis, Stamatis","Βολιώτης, Σταμάτιος"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["1990"]},{"key":"dc:publisher","label":"Institution","values":["University of Patras","Πανεπιστήμιο Πατρών"]},{"key":"dc:type","label":"Dc Type","values":["PhD Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["ΑΝΤΙΣΤΑΘΜΙΣΤΗΣ","Αποσύζευξη εισόδων εξόδων","Μη γραμμικά συστήματα","Παράλληλοι αλγόριθμοι","Ρομποτική","ΣΥΝΕΡΓΑΖΟΜΕΝΟΙ ΡΟΜΠΟΤΙΚΟΙ ΒΡΑΧΙΟΝΕΣ","Σχεδιασμός τροχιάς","COMPENSATOR","Cooperation robotic manipulators","Input output decoupling","Non linear systems","Parallel algorithms","Robotics","TRASECTORY PLANNING","Φυσικές Επιστήμες","Επιστήμη Ηλεκτρονικών Υπολογιστών και Πληροφορική","Επιστήμες Μηχανικού και Τεχνολογία","Επιστήμη Ηλεκτρολόγου Μηχανικού, Ηλεκτρονικού Μηχανικού, Μηχανικού Η/Υ","Natural Sciences","Computer and Information Sciences","Engineering and Technology","Electrical Engineering, Electronic Engineering, Information Engineering"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["gre"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["10.12681/eadd/1669","http://hdl.handle.net/10442/hedi/1669"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["THE PH.D THESIS EXAMINES THE TRAJECTORY PLANNING PROBLEM IN ROBOTICS APPLICATION. THE CASE OF CONTINUOUS TRAJECTORY PLANNING IS CONSIDERED FOR ONE AND TWO COOPERATING MANIPULATORS RESPECTIVELY. THIS PROBLEM IS REDUCED TO A MAXIMIZING PROBLEM UNDER A SET OF CONSTRAINTS. TWO APPROACHES ARE PRESENTED FOR THE SOLUTION OF THE MAXIMIZING PROBLEM. THE SECOND PART OF THE PH.D THESIS EXAMINES THE INPUT OUTPUT DECOUPLING OF NON LINEAR SYSTEMS . A PROCEDURE IS PRESENTED FOR THE CONSTRUCTION OF A SIMPLE MINIMUM ORDER PRECOMPENATOR. THE DECOUPLING IS ACHIEVED USING A FEEDBACK LOW ONCE.","Η ΔΙΔΑΚΤΟΡΙΚΗ ΔΙΑΤΡΙΒΗ ΑΣΧΟΛΕΙΤΑΙ ΜΕ ΤΟ ΠΡΟΒΛΗΜΑ ΤΟΥ ΣΧΕΔΙΑΣΜΟΥ ΤΡΟΧΙΑΣ ΡΟΜΠΟΤΙΚΩΝ ΒΡΑΧΙΟΝΩΝ. ΕΞΕΤΑΖΕΙ ΤΗ ΠΕΡΙΠΤΩΣΗ ΤΟΥ ΣΧΕΔΙΑΣΜΟΥ ΣΥΝΕΧΟΥΣ ΤΡΟΧΙΑΣ ΓΙΑ ΕΝΑΝ ΚΑΙ ΔΥΟ ΣΥΝΕΡΓΑΖΟΜΕΝΟΥΣ ΡΟΜΠΟΤΙΚΟΥΣ ΒΡΑΧΙΟΝΕΣ. ΤΟ ΠΡΟΒΛΗΜΑ ΑΝΑΓΕΤΑΙ Σ'ΕΝΑ ΠΡΟΒΛΗΜΑ ΜΕΓΙΣΤΟΠΟΙΗΣΗΣ ΥΠΟ ΠΕΡΙΟΡΙΣΜΟΥΣ ΓΙΑ ΤΟ ΟΠΟΙΟ ΠΑΡΟΥΣΙΑΖΟΝΤΑΙ ΔΥΟ ΔΙΑΦΟΡΕΤΙΚΕΣΜΕΘΟΔΟΙ ΛΥΣΗΣ ΤΟΥ. ΣΤΗ ΣΥΝΕΧΕΙΑ ΕΞΕΤΑΖΕΤΑΙ Η ΑΠΟΣΥΖΕΥΞΗ ΜΗ ΓΡΑΜΜΙΚΩΝ ΣΥΣΤΗΜΑΤΩΝ. ΠΑΡΟΥΣΙΑΖΕΤΑΙ ΜΙΑ ΝΕΑ ΜΕΘΟΔΟΣ ΑΠΟΣΥΖΕΥΞΗΣ ΠΟΥ ΧΡΗΣΙΜΟΠΟΙΕΙ ΕΝΑΝ ΑΠΛΟ ΑΝΤΙΣΤΑΘΜΙΣΤΗ ΕΛΑΧΙΣΤΗΣ ΤΑΞΗΣ ΚΑΙ ΕΝΑ ΝΟΜΟ ΑΝΑΔΡΑΣΗΣ."]},{"key":"dc:title","label":"Title","values":["ΠΑΡΑΛΛΗΛΟΙ ΑΛΓΟΡΙΘΜΟΙ ΣΧΕΔΙΑΣΜΟΥ ΤΡΟΧΙΑΣ ΡΟΜΠΟΤΙΚΩΝ ΒΡΑΧΙΟΝΩΝ ΚΑΙ ΑΠΟΣΥΖΕΥΞΗ ΜΗΓΡΑΜΜΙΚΩΝ ΣΥΣΤΗΜΑΤΩΝ","PARALLEL TRASECTORY PLANNING ALGORITHMS FOR CONTINUOUS ROBOTICS APPLICATIONS AND DECOUPLING OF NON LINEAR"]}]}],"canonical_facts":{"dc:creator":["Voliotis, Stamatis","Βολιώτης, Σταμάτιος"],"dc:date":["1990"],"dc:description":["THE PH.D THESIS EXAMINES THE TRAJECTORY PLANNING PROBLEM IN ROBOTICS APPLICATION. THE CASE OF CONTINUOUS TRAJECTORY PLANNING IS CONSIDERED FOR ONE AND TWO COOPERATING MANIPULATORS RESPECTIVELY. THIS PROBLEM IS REDUCED TO A MAXIMIZING PROBLEM UNDER A SET OF CONSTRAINTS. TWO APPROACHES ARE PRESENTED FOR THE SOLUTION OF THE MAXIMIZING PROBLEM. THE SECOND PART OF THE PH.D THESIS EXAMINES THE INPUT OUTPUT DECOUPLING OF NON LINEAR SYSTEMS . A PROCEDURE IS PRESENTED FOR THE CONSTRUCTION OF A SIMPLE MINIMUM ORDER PRECOMPENATOR. THE DECOUPLING IS ACHIEVED USING A FEEDBACK LOW ONCE.","Η ΔΙΔΑΚΤΟΡΙΚΗ ΔΙΑΤΡΙΒΗ ΑΣΧΟΛΕΙΤΑΙ ΜΕ ΤΟ ΠΡΟΒΛΗΜΑ ΤΟΥ ΣΧΕΔΙΑΣΜΟΥ ΤΡΟΧΙΑΣ ΡΟΜΠΟΤΙΚΩΝ ΒΡΑΧΙΟΝΩΝ. ΕΞΕΤΑΖΕΙ ΤΗ ΠΕΡΙΠΤΩΣΗ ΤΟΥ ΣΧΕΔΙΑΣΜΟΥ ΣΥΝΕΧΟΥΣ ΤΡΟΧΙΑΣ ΓΙΑ ΕΝΑΝ ΚΑΙ ΔΥΟ ΣΥΝΕΡΓΑΖΟΜΕΝΟΥΣ ΡΟΜΠΟΤΙΚΟΥΣ ΒΡΑΧΙΟΝΕΣ. ΤΟ ΠΡΟΒΛΗΜΑ ΑΝΑΓΕΤΑΙ Σ'ΕΝΑ ΠΡΟΒΛΗΜΑ ΜΕΓΙΣΤΟΠΟΙΗΣΗΣ ΥΠΟ ΠΕΡΙΟΡΙΣΜΟΥΣ ΓΙΑ ΤΟ ΟΠΟΙΟ ΠΑΡΟΥΣΙΑΖΟΝΤΑΙ ΔΥΟ ΔΙΑΦΟΡΕΤΙΚΕΣΜΕΘΟΔΟΙ ΛΥΣΗΣ ΤΟΥ. ΣΤΗ ΣΥΝΕΧΕΙΑ ΕΞΕΤΑΖΕΤΑΙ Η ΑΠΟΣΥΖΕΥΞΗ ΜΗ ΓΡΑΜΜΙΚΩΝ ΣΥΣΤΗΜΑΤΩΝ. ΠΑΡΟΥΣΙΑΖΕΤΑΙ ΜΙΑ ΝΕΑ ΜΕΘΟΔΟΣ ΑΠΟΣΥΖΕΥΞΗΣ ΠΟΥ ΧΡΗΣΙΜΟΠΟΙΕΙ ΕΝΑΝ ΑΠΛΟ ΑΝΤΙΣΤΑΘΜΙΣΤΗ ΕΛΑΧΙΣΤΗΣ ΤΑΞΗΣ ΚΑΙ ΕΝΑ ΝΟΜΟ ΑΝΑΔΡΑΣΗΣ."],"dc:identifier":["10.12681/eadd/1669","http://hdl.handle.net/10442/hedi/1669"],"dc:language":["gre"],"dc:publisher":["University of Patras","Πανεπιστήμιο Πατρών"],"dc:subject":["ΑΝΤΙΣΤΑΘΜΙΣΤΗΣ","Αποσύζευξη εισόδων εξόδων","Μη γραμμικά συστήματα","Παράλληλοι αλγόριθμοι","Ρομποτική","ΣΥΝΕΡΓΑΖΟΜΕΝΟΙ ΡΟΜΠΟΤΙΚΟΙ ΒΡΑΧΙΟΝΕΣ","Σχεδιασμός τροχιάς","COMPENSATOR","Cooperation robotic manipulators","Input output decoupling","Non linear systems","Parallel algorithms","Robotics","TRASECTORY PLANNING","Φυσικές Επιστήμες","Επιστήμη Ηλεκτρονικών Υπολογιστών και Πληροφορική","Επιστήμες Μηχανικού και Τεχνολογία","Επιστήμη Ηλεκτρολόγου Μηχανικού, Ηλεκτρονικού Μηχανικού, Μηχανικού Η/Υ","Natural Sciences","Computer and Information Sciences","Engineering and Technology","Electrical Engineering, Electronic Engineering, Information Engineering"],"dc:title":["ΠΑΡΑΛΛΗΛΟΙ ΑΛΓΟΡΙΘΜΟΙ ΣΧΕΔΙΑΣΜΟΥ ΤΡΟΧΙΑΣ ΡΟΜΠΟΤΙΚΩΝ ΒΡΑΧΙΟΝΩΝ ΚΑΙ ΑΠΟΣΥΖΕΥΞΗ ΜΗΓΡΑΜΜΙΚΩΝ ΣΥΣΤΗΜΑΤΩΝ","PARALLEL TRASECTORY PLANNING ALGORITHMS FOR CONTINUOUS ROBOTICS APPLICATIONS AND DECOUPLING OF NON LINEAR"],"dc:type":["PhD Thesis"]},"updated_at":"2026-07-24T02:25:02Z"}