Now showing items 1-4 of 4
Set-point navigation of a redundant robot in uncertain environments using finite range sensors
In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic ...
Adaptive output tracking control of a surface vessel
In this paper, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The ...
Robust output tracking control of a surface vessel
In this paper, tracking control of a three degree-of-freedom marine vessel is examined. The primary motivation for this work is the compensation needed for the added mass common to surface vessels, resulting in an asymmetric ...
Teleoperation with kinematically redundant robot manipulators with sub-task objectives
In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user ...