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检索条件"机构=DLR Institute of Robotics and System Dynamics"
140 条 记 录,以下是41-50 订阅
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A distance function and its gradient for manipulator online obstacle detection and avoidance
A distance function and its gradient for manipulator online ...
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International Conference on Advanced robotics (ICAR)
作者: M. Schlemmer G. Gruebel DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany
A novel concept of a smooth distance function for online collision detection and avoidance is presented. The concept is well suited for real-time obstacle avoidance path planning. Computation efficiency is achieved by... 详细信息
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On computing normalized coprime factorizations of rational matrices
On computing normalized coprime factorizations of rational m...
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IEEE Conference on Decision and Control
作者: A. Varga DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany
We propose a new computational approach based on descriptor state space algorithms to compute normalized coprime factorizations of rational matrices.
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Computation of coprime factorizations of rational matrices
Computation of coprime factorizations of rational matrices
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IEEE Conference on Decision and Control
作者: A. Varga DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany
We propose a numerically reliable state space algorithm for computing coprime factorizations of rational matrices with factors having poles in a given stability domain. The new algorithm is based on a recursive genera... 详细信息
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Robust Torque Control for Robot Joints with Flexibility
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IFAC Proceedings Volumes 1998年 第27期31卷 121-125页
作者: Jingxin Shi Gerd Hirzinger Institute for Robotics and System Dynamics German Aerospace Center (DLR) 82234 Wessling Germany
A practical solution of controlling flexible-joint robots is to control the joint torque, i.e. a robust joint torque controller with fast enough response is required. The position control problem of the flexible-joint... 详细信息
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On Stability Profiles
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IFAC Proceedings Volumes 1996年 第1期29卷 3410-3415页
作者: Wolfgang Sienel DLR German Aerospace Research Center Institute for Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany
Stability analysis of nominal systems can be performed easily by computation and inspection of the plant's eigenvalues. This approach is quite common for nominal plants. If the plant model, however, contains bound... 详细信息
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Analysis and Design of Mechatronic Vehicles Based on MBS Codes
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IFAC Proceedings Volumes 1995年 第1期28卷 87-92页
作者: W. Kortüm DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany
The computational analysis of advanced mechatronic vehicles requires complex simulation models as provided by multibody system codes. Moreover, the design of such systems demands multi-objective parameter optimization... 详细信息
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Towards a New Generation of Multisensory Light-weight Robots with Learning Capabilities
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IFAC Proceedings Volumes 1993年 第2期26卷 665-672页
作者: G. Hirzinger A. Baader R. Koeppe M. Schedl German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany
Key items in the development of a new smart robot generation are explained by hand of dlr's recent activities in robotics research. These items are the design of multisensory gripper systems, ultra-light-weight li... 详细信息
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The ANDECS Framework for Computational system dynamics Integration
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IFAC Proceedings Volumes 1995年 第23期28卷 89-94页
作者: G. Grübel J. Bals R. Finsterwalder H.-D. Joos M. Otter DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany
Integrated systems Engineering is essential in design-concept validation. In particular, computer-aided procedures for system dynamics integration beyond mere functional integration are necessary in order to neither u... 详细信息
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ANDECS-Multicriteria Optimization of a Fuzzy-Logic Controller for an Aerodynamically Unstable Aircraft in Comparison to a Linear Robust Control Design
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IFAC Proceedings Volumes 1995年 第23期28卷 107-112页
作者: H.-D. Joos DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany
The performance benefits of an aerodynamically unstable aircraft are obtained at the expense of the necessity of an automatic control system. For reliability requirements controllers without gain scheduling are looked... 详细信息
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ANDECS Robot-Trajectory Optimization for State-Constrained Time-Optimal Control and Minimum Power Consumption
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IFAC Proceedings Volumes 1995年 第23期28卷 101-106页
作者: A. Lewald M. Otter G. Grübel DLR-Oberpfaflenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany
The robot trajectory optimization features of the ANDECS environment are described. Robot trajectory optimization problems are formulated as multi-objectives parameter optimization problems in search for a good compro... 详细信息
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