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Controle de Manipulador Redundante Utilizando Realimentação Visual
(Universidade Federal do Rio Grande do NorteBRUFRNPrograma de Pós-Graduação em Engenharia ElétricaAutomação e Sistemas; Engenharia de Computação; Telecomunicações, 2002-08-02)
In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for ...
Lyapunov design of multivariable MRAC via generalized passivation
(2015-01-01)
A Lyapunov design of multiple input, multiple output (MIMO) model-reference adaptive control (MRAC) systems is proposed using new generalized passivity concepts based on WSPR and WASPR properties. The new design avoids ...
A 2 1/2 D Visual controller for autonomous underwater vehicle
(Escola Polit??cnicaem Engenharia El??tricaUFBAbrasil, 2017-06-28)
Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador
(Universidade Federal do Rio Grande do NorteBRUFRNPrograma de Pós-Graduação em Engenharia ElétricaAutomação e Sistemas; Engenharia de Computação; Telecomunicações, 2005-03-22)
This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and ...
Necessary and sufficient condition for generalized passivity, passification and application to multivariable adaptive systems
(2011-12-01)
Recently, a generalized passivity concept for linear multivariable systems was obtained which allows circumventing the restrictiveness of the usual passivity concept. The latter is associated with the classical SPR (Strictly ...
Location and Classification of Moving Fruits in Real Time with a Single Color Camera
(Instituto de Investigaciones Agropecuarias, INIA, 2009)