A real-time approach for singularity avoidance in ... - Semantic Scholar
Recommend Documents
The term degradation means, as suggested by Henry S. Baird [33], âevery sort of less-than ideal properties of real document imagesâ. In fact, document image ...
3Department of ECE, College of Engineering, Guindy,. Chennai- 600025. [email protected]. ABSTRACT. Maximizing network throughput while providing ...
Department of Cell and Developmental Biology, University of Pennsylvania School of Medicine, Philadelphia, PA 19104. Edited by Ira Herskowitz, University of ...
popular among REINAS users. Binaries for Sun/4, DEC ULTRIX, RS/6000, HP/UX, SGI,. A/UX, and BSD/OS platforms have been built and continue to be widely ...
Abstract: Dynamical systems with controlled singularities, such as mechanical systems with active unilateral constraints, are characterized by the admission of ...
SINGULARITY SPHERE IN THE DYNAMIC. BIFURCATION OF GINZBURG-LANDAU EQUATION. TIAN MA, JUNGHO PARK AND SHOUHONG WANG. Abstract.
Oct 22, 2008 - is converted to its perspective projection equivalent. Particle filtering .... http://www.brl.ntt.co.jp/people/otsuka/ICMI2008.html. RAID ... Wireframe:.
A WAIT-FREE REALTIME SYSTEM. FOR OPTIMAL DISTRIBUTION OF VISION TASKS. ON MULTICORE ARCHITECTURES. Thomas Müller, Pujan Ziaie, Alois ...
activity recognition on a cell phone with a single triaxial .... They used android phones for data collection. ..... on Progress in Informatics and Computing 2010.
Applied Mechanics (CESAME UCL), Avenue Georges Lemaıtre 4, 1348 ...... d'e´tude pour l'application de mode`les mathe´matiques pre´visionnels des de´bits ...
Locker, 2009) and response time (Klein & Harris, 2009) have been used to provide an index of the amount of. Correspondence should be addressed to Loes ...
Nov 20, 2008 - Korea Aerospace University, Korea. Summary ... study proposes to use particle swarm optimization, which is motivated from the simulation of ... It can carry out complex and sophisticated self organization with no clear leader.
Deadlock Avoidance for Sequential Resource Allocation Systems: Hard and Easy Cases. Mark Lawley, Assistant Professor. *. School of Industrial Engineering, ...
human driving data is introduced to model obstacle avoidance through ... environment and the goal points that were given to the human driver and produces a ...
Jun 13, 2010 - Peng Li, Kunal Agrawal, Jeremy Buhler, and Roger D. Chamberlain,. âDeadlock ...... [13] Arpith C. Jacob, Joseph M. Lancaster, Jeremy. Buhler ...
Jun 8, 2005 - highly automated and flexible in which raw parts of various types are processed ... effective free space of circuits of the digraph model. The algorithm is highly .... Fax: 740-593-0007,. Email: zhangwO,bobcat.ent.ohiou.edu.
Grants Council of Hong Kong and German Academic Exchange Service. (reference No. G HK010/06). ... kinematics problem with obstacle avoidance into a quadratic programming (QP) ... the work of Tank and Hopfield [15]. Reported results of.
tence. Individuals may aspire to attain competence or may strive to avoid ... Andrew J. Elliot, Department of Psychology, University of Rochester;. Judith M.
Mar 24, 2015 - present in PD patients (see Table 1 for a synthesis of ..... Parkinson's disease: effects of pramipexole and pergolide on working memory.
Jul 2, 2012 - The same method has been applied to the Schwarzschild black hole, ...... [12] R. C. Henry, Kretschmann scalar for a Kerr-Newman Black Hole.
The Joint-limits and Singularity. Avoidance in Robotic Welding. Liguo Huo a and Luc Baron b. aDepartment of Mechanical Engineering. ´Ecole Polytechnique de ...
Singularity Avoidance in Redundant Robots Using Hybrid Automaton. Carlos Henrique dos Santos, Guilherme Bittencourt, Raul Guenther and Edson De Pieri.
A real-time approach for singularity avoidance in ... - Semantic Scholar
In autonomous system, it is important to establish a control scheme that works with stability even near singularity con- figurations. In this article, we describe an ...
A real-time approach for singularity avoidance in Resolved Motion Rate Control of Robotic Manipulators Giacomo Marani1 , Jinhyun Kim2 ,
Junku Yuh1 and
Wan Kyun Chung2
Autonomous Systems Laboratory, University of Hawaii E-mail : {marani,jyuh}@wiliki.eng.hawaii.edu 2 Robotics & Bio-Mechatronics Lab., Pohang University of Science & Technology(POSTECH) E-mail : {pluto,wkchung}@postech.ac.kr 1
Abstract In autonomous system, it is important to establish a control scheme that works with stability even near singularity configurations. In this article, we describe an on-line trajectory control scheme that uses the manipulability measure as a distance criteria to avoid manipulator singularities. The proposed approach consists in a method for limiting the minimum value of the distance criteria. The performance is simply affected by the choice of the lower limit. Based on a real-time evaluation of the measure of manipulability, this method does not require a preliminary knowledge of the singular configurations. The proposed algorithm is validated by experimental results.
