Sökning: "minimum jerk"
Hittade 4 uppsatser innehållade orden minimum jerk.
1. Online Minimum Jerk Velocity Trajectory Generation : for Underwater Drones
Uppsats för yrkesexamina på avancerad nivå, Uppsala universitet/Avdelningen för systemteknikSammanfattning : This thesis studies real-time reference ramping of human input for remotely operated vehicles and its effect on system control, power usage, and user experience. The implementation, testing, and evaluation were done on the remotely operated Blueye Pioneer underwater drone. LÄS MER
2. Evaluation of Model-Based Design Using Rapid Control Prototyping on Forklifts
Master-uppsats, Linköpings universitet/ReglerteknikSammanfattning : The purpose of this thesis is to evaluate Rapid Control Prototyping which is apart of the Model-Based Design concept that makes it possible to convenientlytest prototype control algorithms directly on the real system. The evaluation ishere done by designing two different controllers, a gain-scheduled P controllerand a linear Model Predictive Controller (mpc), for the lowering of the forks of aforklift. LÄS MER
3. Online Predictions of Human Motion
Kandidat-uppsats, KTH/Skolan för teknikvetenskap (SCI)Sammanfattning : Collaboration between humans and robots is becoming an increasingly commonoccurrence in both industry and homes, more so with every forthcomingtechnological advance. This paper examines the possibilities of performinghuman hand movement predictions on the fly, e.g. LÄS MER
4. Model-Based Design of a Fork Control System in Very Narrow Aisle Forklifts
Master-uppsats, Linköpings universitet/ReglerteknikSammanfattning : This thesis explains the model-based design of a fork control system in a turret head operated Very Narrow Aisle forklift in order to evaluate and push the limits of the current hardware architecture. The turret head movement consists of two separate motions, traversing and rotation, which both are hydraulically actuated. LÄS MER