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Inverse Kinematics Of The 6dof C12xl, Carl Liu, Lili Ma
Inverse Kinematics Of The 6dof C12xl, Carl Liu, Lili Ma
Publications and Research
Industrial robotic manipulators are widely used in applications such as pick & place, welding, and assembly to perform repeated tasks in replace of human labor. Such tasks typically require fully autonomous mechanical arms that are capable of identifying the parts to operate, path planning, and trajectory generation & tracking. A robotic arm consists of a sequence of rigid links connected by movable components (the joints). Proper control of the arm’s motion requires the knowledge of inverse kinematics, which computes/outputs the joint variables, i.e., angles for revolute joints and displacement for prismatic joints, causing the robotic arm’s end effector (e.g., gripper, …
Cooperative Target Tracking In Concentric Formations, Lili Ma
Cooperative Target Tracking In Concentric Formations, Lili Ma
Publications and Research
This paper considers the problem of coordinating multiple unmanned aerial vehicles (UAVs) in a circular formation around a moving target. The main contribution is allowing for versatile formation patterns on the basis of the following components. Firstly, new uniform spacing control laws are proposed that spread the agents not necessarily over a full circle, but over a circular arc. Uniform spacing formation controllers are proposed, regulating either the separation distances or the separation angles between agents. Secondly, the use of virtual agents is proposed to allow for different radii in agents’ orbits. Thirdly, a hierarchical combination of formation patterns is …