Application of Half-Derivative Damping to Cartesian Space Position Control of a SCARA-like Manipulator

Autor: Luca Bruzzone, Shahab Edin Nodehi

Publikováno v: Robotics, Vol 11, Iss 6, p 152 (2022)

In classical Cartesian space position control, KD, the end-effector follows the set-point trajectory with a stiffness expressed in the directions of the external coordinates through the stiffness matrix, K, and with a damping proportional to the firs

Externí odkaz: https://doaj.org/article/31c5b0e7d17643baa1caf8921e4f45eb

Application of the Half-Order Derivative to Impedance Control of the 3-PUU Parallel Robot

Autor: Luca Bruzzone, Pietro Fanghella, Davide Basso

Publikováno v: Actuators, Vol 11, Iss 2, p 45 (2022)

This paper presents an extension of impedance control of robots based on fractional calculus. In classical impedance control, the end-effector reactions are proportional to the end-effector position errors through the stiffness matrix K, while dampin

Externí odkaz: https://doaj.org/article/565b0e691bb246bba75ef2d7ac2ff70b

L$^2$ well-posedness of boundary value problems for parabolic systems with measurable coefficients

Autor: Pascal Auscher, Kaj Nyström, Moritz Egert

Publikováno v: J. Eur. Math. Soc. (JEMS) 6
J. Eur. Math. Soc. (JEMS) 6, 2020, 22 (9), pp.2943--3058
Journal of the European Mathematical Society
Journal of the European Mathematical Society, European Mathematical Society, 2020, 22 (9), pp.2943-3058. ⟨10.4171/JEMS/980⟩

We prove the first positive results concerning boundary value problems in the upper half-space of second order parabolic systems only assuming measurability and some transversal regularity in the coefficients of the elliptic part. To do so, we introd

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0fe8c82be0f01d61b3d4b9064aac1f1d
https://doi.org/10.4171/jems/980

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