For\njoint-space control, the method of damped-least-squares at both the\nvelocity and acceleration levels is revisited and new stability results\nare presented; for task-space control a new task-space trajectory filter\nis presented. Simulation results are given for the PUMA 762 robot and\nthe...
美 英 un.关节间隙 网络关节空间;接合空间;新生儿的关节间隙 英汉 网络释义 un. 1. 关节间隙
The task-space tracking control of robots without the exact knowledge of kinematics and dynamics has been studied before with the assumption that the joint velocities are available for controller designs. However, the velocity measurements can be contaminated by noises, thereby resulting in poor system...
Interpolate between taskInit and taskFinal to compute intermediate task-space waypoints. [taskWaypoints,taskVelocities] = transformtraj(taskInit,taskFinal,timeInterval,trajTimes); Control Task-Space Motion Create a joint space motion model for PD control on the joints. The taskSpaceMotionModel object...
Using new small electronic devices, task guidance systems can be deve... JENNIFER J. OCKERMAN,AMY R. PRITCHETT - 《Behaviour & Information Technology》 被引量: 15发表: 2004年 Multiple Impedance Control of Space Free-Flying Robots Using Virtual Object Grasp Multiple impedance control (MIC) en...
A joint-space adaptive control scheme is developed for controlling the position of a 6-degree-of-freedom robot end-effector that performs precise motion within a small workspace and was built to study autonomous assembly of NASA hardware. The slave arm of a telerobotic system is controlled. The...
task driven discretization of the joint space of visua1 percepts and continuous actions We target the problem of closed-loop learning of control policies that map visual percepts to continuous actions. Our algorithm, called Reinforcement Learning of Joint Classes (RLJC), adaptively dis- cretizes ...
The task space for the whole arm is interpreted in two ways, the space of rolled shapes or bunches of ordered n-frames. A rolled shape is a set ... H Mochiyama - IEEE/RSJ International Conference on Intelligent Robots & Systems 被引量: 1发表: 2000年 VIBRATION ANALYSIS AND DIAGNOSIS OF...
wider bandwidth, shorter delay, better energy efficiency, higher intelligence and bettersecuritywhile the communication industry expects collaboration between space and ground, blending of communication and sensing, integration of communication and computing, unity of humans and machines, and ubiquitous ...
In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are given in order to illustrate graphically the results. This stu...