Sökning: "Mikael Brudfors"

Hittade 1 uppsats innehållade orden Mikael Brudfors.

  1. 1. Trajectory Tracking for Mobile Manipulators : A Comparison of Control Laws and Optimization of the Reachable Workspace

    Kandidat-uppsats, KTH/Optimeringslära och systemteori

    Författare :Mikael Brudfors; Clara Lynn; Robert Rogersten; [2012]
    Nyckelord :;

    Sammanfattning : This report investigates how mobile manipulators can be controlled when an end-eector is required to follow some certain trajectory. The robot platform is of type (2,0) and is restricted to planar motion under nonholonomic constraints. The manipulator of the robot are modeled as a series of chains, connected by revolute joints. LÄS MER