A Geometric Approach to Motion Control of a Standard Tractor-Trailer Robot

2016 ◽  
Author(s):  
Avinesh Prasad ◽  
Bibhya Sharma ◽  
Jito Vanualailai
Keyword(s):  
Motion Control ◽  
Geometric Approach ◽  
Standard Tractor

scholarly journals A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach

2015 ◽  
Vol 659 ◽  
pp. 012029
Author(s):  
Daniel Straßberger ◽  
Paolo Mercorelli ◽  
Oleg Sergiyenko
Keyword(s):  
Motion Control ◽  
Geometric Approach

A Geometric Approach to the Decoupling Control and to Speed up the Dynamics of a General Rigid Body Manipulation System

2014 ◽  
Vol 534 ◽  
pp. 93-103
Author(s):  
Paolo Mercorelli
Keyword(s):  
Rigid Body ◽  
Motion Control ◽  
Predictive Control ◽  
Generalized Linear Model ◽  
Geometric Approach ◽  
Careful Analysis ◽  
Decoupling Control ◽  
Manipulation System ◽  
Speed Up ◽  
Task Oriented

This contribution deals with a new analysis of a rigid body manipulation system. It is based on the well–knowngeometric control of system dynamics. In such a framework some typical problems in robotics are mathematicallyformalized and analyzed. The outcomes are so general that it is possible to speak of structural properties in roboticmanipulation. The problem of non-interacting force/motion control is investigated. A generalized linear model is usedand a careful analysis is made. The main result consists in proposing a task–oriented choice of the controlled outputs,for which the structural non-interaction property holds for a wide class of manipulation systems. Moreover, a decoupledlinear model predictive control is proposed which uses a pre-selecting matrix to speed up the dynamics of the mechanisms.The pre-selecting matrix enables to considers subspaces which correspond to the eigenvectors of decoupled system tospeed up the dynamic of the considered mechanism.

A Geometric Approach to Homology Theory

1976 ◽  
Author(s):  
S. Buonchristiano ◽  
C. P. Rourke ◽  
B. J. Sanderson
Keyword(s):  
Geometric Approach ◽  
Homology Theory

A GEOMETRIC APPROACH TO DISSIPATION AND ITS APPLICATION TO DISSIPATIVE NUCLEAR DYNAMICS

1984 ◽  
Vol 45 (C6) ◽  
pp. C6-87-C6-94
Author(s):  
H. Reinhardt ◽  
R. Balian ◽  
Y. Alhassid
Keyword(s):  
Geometric Approach ◽  
Nuclear Dynamics

Virtual Hand Representation and Motion Control for Smart Wheelchair with Touch-Based Extended Hand Projection

2019 ◽  
Vol 139 (5) ◽  
pp. 662-669
Author(s):  
Yuki Asai ◽  
Ryuichi Enomoto ◽  
Yuta Ueda ◽  
Daisuke Iwai ◽  
Kosuke Sato
Keyword(s):  
Motion Control ◽  
Virtual Hand ◽  
Smart Wheelchair

Development of Semicircular Tubular Core-less Linear Motor and Its Motion Control

2015 ◽  
Vol 135 (3) ◽  
pp. 246-257 ◽  
Author(s):  
Mototsugu Omura ◽  
Tomoyuki Shimono ◽  
Yasutaka Fujimoto
Keyword(s):  
Motion Control ◽  
Linear Motor
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