Zobrazeno 1 - 10
of 1 200
pro vyhledávání: '"Klimchik A"'
Autor:
Sahil Bharti, Eldho Paul, Anandu Uthaman, Hariharan Krishnaswamy, Alexandr Klimchik, Riby Abraham Boby
Publikováno v:
Scientific Reports, Vol 14, Iss 1, Pp 1-20 (2024)
Abstract Incremental sheet metal forming is a highly versatile die-less forming process for manufacturing complex sheet metal components. Robot-assisted incremental sheet forming, or roboforming, allows a wider range of tool motion, providing the cap
Externí odkaz:
https://doaj.org/article/9099585d0c47402aaf3891bc9845625e
Explicit model-predictive control (MPC) is a widely used control design method that employs optimization tools to find control policies offline; commonly it is posed as a semi-definite program (SDP) or as a mixed-integer SDP in the case of hybrid sys
Externí odkaz:
http://arxiv.org/abs/2307.12437
This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the smoothness o
Externí odkaz:
http://arxiv.org/abs/2305.15791
In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or static. Hence,
Externí odkaz:
http://arxiv.org/abs/2208.14647
The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two important cases are considered, where the manipulator has either a straight or
Externí odkaz:
http://arxiv.org/abs/2202.08691
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our proposed appr
Externí odkaz:
http://arxiv.org/abs/2202.06056
Publikováno v:
Scientific Reports, Vol 14, Iss 1, Pp 1-15 (2024)
Abstract This paper presents a technique to model the residual dynamics between a high-level planner and a low-level controller by considering reference trajectory tracking in a cluttered environment as an example scenario. We focus on minimising res
Externí odkaz:
https://doaj.org/article/9b2410a1b77b4d48b63cfcdf1054cbb3
Publikováno v:
In Robotics and Autonomous Systems May 2024 175
Autor:
Kulathunga, Geesara1,2 (AUTHOR) g.mudiyanselage@innopolis.ru, Klimchik, Alexandr3 (AUTHOR) aklimchik@lincoln.ac.uk
Publikováno v:
Remote Sensing. Nov2023, Vol. 15 Issue 21, p5237. 37p.
Publikováno v:
2021 International Conference on Computer, Control and Robotics (ICCCR), Jan 2021, Shanghai, China. pp.93-97
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the stability of
Externí odkaz:
http://arxiv.org/abs/2102.09840