Search for dissertations about: "Alin Albu-Schäffer"

Found 1 swedish dissertation containing the words Alin Albu-Schäffer.

2. 1. Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators

   Author : Uwe Mettin; Anton Shiriaev; Alin Albu-Schäffer; Umeå universitet; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Motion Planning; Underactuated Mechanical Systems; Redundant Manipulators; Virtual Holonomic Constraints; Orbital Stabilization; Human Movement; Walking Robots; Hydraulic Manipulators; Electrical engineering; Elektroteknik; Automatic Control; reglerteknik;

   Abstract : Motion planning and control synthesis are challenging problems for underactuated mechanical systems due to the presence of passive (non-actuated) degrees of freedom. For those systems that are additionally not feedback linearizable and with unstable internal dynamics there are no generic methods for planning trajectories and their feedback stabilization. READ MORE