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Controllability Iss...
Controllability Issues of Robots in Singular Configurations
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Nielsen, Lars (författare)
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de Wit, Carlos Canudas (författare)
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- Hagander, Per (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
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(creator_code:org_t)
- 1991
- 1991
- Engelska.
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Ingår i: Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991. - 081862163X ; , s. 2210-2215
- Relaterad länk:
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http://dx.doi.org/10...
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Abstract
Ämnesord
Stäng
- Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way. The observations on possible motions open a number of questions, since a wider class of motions is possible that at first sight. Hence, the results are of relevance to path programming, to path following, and to controller design
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
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- kon (ämneskategori)
- ref (ämneskategori)
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