Practical application of the task-priority redundancy resolution technique must deal with the occurrence of kinematic and algorithmic singularities, The aim of this paper is twofold., First, the application of existin...
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Practical application of the task-priority redundancy resolution technique must deal with the occurrence of kinematic and algorithmic singularities, The aim of this paper is twofold., First, the application of existing singularity-robust methods to the case of kinematically redundant arms is studied. Then, a new task-priority redundancy resolution technique is developed that overcomes the effects of algorithmic singularities, Computational aspects of the solutions are also considered in view of real-time implementation of a kinematic control algorithm, The method is applied to a seven-degree-of-freedom manipulator in numerical case studies to demonstrate its effectiveness.
In this paper we consider position control of underwater vehicles through inversion of differential kinematics based on uncalibrated, relative to the water, velocity sensors and unknown marine current. An estimation a...
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ISBN:
(纸本)9781479959013
In this paper we consider position control of underwater vehicles through inversion of differential kinematics based on uncalibrated, relative to the water, velocity sensors and unknown marine current. An estimation algorithm, based on the above measurements, estimates calibration parameters and marine current, assuring convergence of the estimated velocities to the true quantities. A kinematic control algorithm assures convergence to zero of the position tracking error. An extension of the basic estimation algorithm has been considered, in which position measurements are considered sampled at low rate and randomly spaced in time. Computer simulations are given of the proposed position tracking control of an underactuated underwater vehicle.
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