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Full-Text Articles in Engineering
Real-Time Implementation And Evaluation Of Computed-Torque Scheme, Pradeep K. Khosla, Takeo Kanade
Real-Time Implementation And Evaluation Of Computed-Torque Scheme, Pradeep K. Khosla, Takeo Kanade
Pradeep K Khosla
No abstract provided.
An Algorithm To Estimate Manipulator Dynamics Parameters, Pradeep K. Khosla, Takeo Kanade
An Algorithm To Estimate Manipulator Dynamics Parameters, Pradeep K. Khosla, Takeo Kanade
Pradeep K Khosla
No abstract provided.
Choosing Sampling Rates For Robot Control, Pradeep K. Khosla
Choosing Sampling Rates For Robot Control, Pradeep K. Khosla
Pradeep K Khosla
No abstract provided.
Experimental Evaluation Of Nonlinear Feedback And Feedforward Control Schemes For Manipulators, Pradeep K. Khosla, Takeo Kanade
Experimental Evaluation Of Nonlinear Feedback And Feedforward Control Schemes For Manipulators, Pradeep K. Khosla, Takeo Kanade
Pradeep K Khosla
No abstract provided.
Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #11, Georg F. Mauer
Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #11, Georg F. Mauer
Fuels Campaign (TRP)
The eleventh quarter of the project covered the following:
• Mr. Richard Silva successfully defended his thesis in April 2004 and graduated from the MEG Master’s program.
• Further refinements on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Graduate Jae-Kyu Lee). Ms. Caroline Wiejak, an exchange student from the ESIEE in Marne-la-Vallee, France is continuing with the image analysis effort. To date, she has transferred Jae-Kyu’s code to Matlab, and is presently expanding its application to more complex 3D shapes.
• Graduate student Jamil Renno refined and detailed his simulations of …
Robust Decentralised Variable Structure Control For Rigid Robotic Manipulators, Thasapalan Kuhan
Robust Decentralised Variable Structure Control For Rigid Robotic Manipulators, Thasapalan Kuhan
Theses : Honours
In this thesis, the problem of robust variable structure control for non-linear rigid robotic manipulators is investigated. Robustness and convergence results are presented for variable structure control systems of robotic manipulators with bounded unknown disturbances, nonlinearities, dynamical couplings and parameter uncertainties. The major outcomes of the work described in this thesis are summarised as given below. The basic variable structure theory is surveyed, and some basic ideas such as sliding mode designs, robustness analysis and control1er design methods for linear or non-linear systems are reviewed. Three recent variable structure control schemes for robotic manipulators are discussed and compared to highlight …