Zobrazeno 1 - 8
of 8
pro vyhledávání: '"Oleg Balakhnov"'
Publikováno v:
Sensors, Vol 21, Iss 18, p 6312 (2021)
In this paper, an orthogonal decomposition-based state observer for systems with explicit constraints is proposed. State observers have been an integral part of robotic systems, reflecting the practicality and effectiveness of the dynamic state feedb
Externí odkaz:
https://doaj.org/article/cde90ea185c148958cedceb0946a9e80
Preliminary Study on Slack-Free Model Predictive Control of Twisted String-Based Antagonistic Joints
Publikováno v:
2020 International Conference Nonlinearity, Information and Robotics (NIR).
In this work, we propose a model predictive controller (MPC) for simultaneous position and tension tracking in twisted string actuator-based antagonistic joints. The proposed controller takes into account unidirectional nature of the cables and minim
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::1775445bca4d0100dd05d7975fa216f1
https://doi.org/10.1109/nir50484.2020.9290167
https://doi.org/10.1109/nir50484.2020.9290167
Publikováno v:
2020 International Conference Nonlinearity, Information and Robotics (NIR).
The paper studies the use of energy-based forward and inverse kinematics procedures for calculation of operational space of tensegrity robotics structures. Tensegrity structures are compliant and highly dynamical, which makes them a favorable robotic
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2ecb8ae9be43bda8b1616a2bce4c5ae4
https://doi.org/10.1109/nir50484.2020.9290196
https://doi.org/10.1109/nir50484.2020.9290196
Publikováno v:
IRC
This paper describes an energy-based forward kinematics method for tensegrity robotics structures. The method can be implemented as a nonlinear optimization procedure and solved with standard optimization algorithms. Based on this result, the paper p
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::be819df7e52186ac9222fe1edb34d0aa
https://doi.org/10.1109/irc.2020.00051
https://doi.org/10.1109/irc.2020.00051
Publikováno v:
Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings" ISBN: 9789811555794
This paper presents a new local linearization method for elastic forces in tensegrity structures, which can be used to solve forward kinematic problems. Forward kinematic problems are often solved as a part of inverse kinematic algorithms and traject
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::fc485bd0c0736903243e9542c172e2be
https://doi.org/10.1007/978-981-15-5580-0_24
https://doi.org/10.1007/978-981-15-5580-0_24
Publikováno v:
MED
In this paper, the problem of controlling compliance of a robotic tensegrity structure (finding the state of the structure which produces desired stiffness) is discussed. Tensegrity structures have a number of unique properties: they are well suited
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9db119c7a9bba52ee9b0b9147ec650fa
https://doi.org/10.1109/med48518.2020.9182915
https://doi.org/10.1109/med48518.2020.9182915
Publikováno v:
Sensors (Basel, Switzerland)
Sensors, Vol 21, Iss 6312, p 6312 (2021)
Sensors
Volume 21
Issue 18
Sensors, Vol 21, Iss 6312, p 6312 (2021)
Sensors
Volume 21
Issue 18
In this paper, an orthogonal decomposition-based state observer for systems with explicit constraints is proposed. State observers have been an integral part of robotic systems, reflecting the practicality and effectiveness of the dynamic state feedb
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::52698e46750e1537984739c944d4148c
https://doi.org/10.3390/s21186312
https://doi.org/10.3390/s21186312
Publikováno v:
AIM
The paper deals with control system design for a robotic arm with variable stiffness actuators (VSA). Particular attention is paid to the MACEPPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) type VSA and its uti
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::0de5f50a13e1eef4d620022f36541748
https://doi.org/10.1109/aim.2019.8868490
https://doi.org/10.1109/aim.2019.8868490