Sökning: "Robot motion control"

Visar resultat 1 - 5 av 81 uppsatser innehållade orden Robot motion control.

  1. 1. Multi-Robot Motion Planning Under High-Level Task Specifications

    Kandidat-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Axel Abrahamsson; Lukas Granqvist; [2023]
    Nyckelord :;

    Sammanfattning : This bachelor thesis explores the use of Signal Temporal Logic (STL) and ControlBarrier Functions (CBFs) to address the challenges associated with multi-robot motionplanning under high-level task specifications. STL is a formalism used to specify temporalproperties of signals, while CBFs are used to enforce safety constraints. LÄS MER

  3. 2. Optimal Gait Control of Soft Quadruped Robot by Model-based Reinforcement Learning

    Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :Niu Xuezhi; [2023]
    Nyckelord :Quadruped Robots; Soft Robotics; Reinforcement Learning; Gait Control; Model-Based Control Optimization; Kvadrupedroboter; Mjukrobotik; Förstärkningsinlärning; Gångkontroll; Optimering av robotkontroll;

    Sammanfattning : Quadruped robots offer distinct advantages in navigating challenging terrains due to their flexible and shock-absorbing characteristics. This flexibility allows them to adapt to uneven surfaces, enhancing their maneuverability. LÄS MER

  4. 3. Accuracy Improvement and Joint Stiction Relieve in Robot Arms Movement Applying Torque-Based Cartesian Impedance Control With Dithering

    Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

    Författare :Salvador Monzó Martínez; Altin Zejnullahu; [2023]
    Nyckelord :Technology and Engineering;

    Sammanfattning : Robots are nowadays present and essential in a wide range of applications, and robot arms in particular are capable of performing various tasks such as inspection, material handling, and welding. They can be classified into several types, depending on their structure and purpose. LÄS MER

  5. 4. Development of an acoustico-vestibular system for head rolling stabilization : Aperception system to stabilize a bio-inspired swimming snake robot

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Marie-Jeanne Paul; [2023]
    Nyckelord :Bio inspiration; Perception; Localisation; Benchmarking; Sensors; Kalman Ąlter; Bioinspiration; perception; lokalisering; benchmarking; sensorer; KalmanĄlter;

    Sammanfattning : Bioinspired robots are becoming more and more common and getting inspired by the solutions found in nature to tackle problems is often useful. Regarding the swimming robots Ąeld of research, we can get inspiration from swimming snakes. LÄS MER

  7. 5. Design, Modeling, and Testing of a Force Feedback Haptic Device for Simulated Robot Interaction

    Master-uppsats, Linköpings universitet/Institutionen för systemteknik

    Författare :Patrik Lindström; [2023]
    Nyckelord :Force Feedback; Impedance Control; PD-gain; Dynamic Behavior; Closed-chain; Master-Slave; Parallel Manipulator; Kinematics Redundancy; Mass-Spring-Damper; Position Control; Current Control; Modeling; Design; Joints; Delta robot; Differential Equations; External Torques; Kinematics; Forward Kinematics; Inverse Kinematics; Dynamic Matrices; Jacobian; URDF; Haptics; Haptic Device; Solidworks; CAD; Maxon Motors; EtherCAT; Beckhoff;

    Sammanfattning : Haptic feedback is a growing phenomenon that incorporates the sense of touch through tactile sensations such as vibrations, electrical signals, air pressure, and sound waves or through force feedback, which employs torques and/or forces to replicate the pressure and weight of a simulated object. Utilizing haptic technology establishes a communication bridge between the user and the technical component, enhancing the user's understanding of the technical component's surroundings. LÄS MER