[PDF] Top 20 The Singular Value Decomposition and the Control of a Robot in Singular Configuration
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The Singular Value Decomposition and the Control of a Robot in Singular Configuration
... Robotics and Cybernetics, July 1996, Lille, ...if the desired velocity is along a degenerate direction. As a result, the robot stops at the ...motions of the ... Voir le document complet
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Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot
... change of assembly-mode was first analyzed in the joint space, but did not make it possible to explain the non- singular assembly-mode ...problem, a configuration-space ... Voir le document complet
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A temptative to reach a visual singular configuration using Halley's method
... from a scientific point of view, and may not be always possible in practice, when only three points can be extracted in the image for ...When the redundancy framework can ... Voir le document complet
7
Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot
... Parallel robot, 3-RPS, Singularity, Operation mode, Aspect, Cylindrical algebraic decomposition 1 Introduction When designing a robot, the last step is the trajectory ... Voir le document complet
11
Singular Optimal Control of a 1-D Parabolic-Hyperbolic Degenerate Equation
... rest of the paper is organized as follows: • In section ...notations and set our functional framework. • In section 2.2, we perform a careful spectral analysis of ... Voir le document complet
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The Power of a Singular Story: Narrating Africa and Its Diasporas
... prevent the zombification induced by this trau- matic past and ultimately lead to some form of ...as a black Canadian author, even if, unlike her, he does not have roots in the ... Voir le document complet
9
On singular values decomposition and patterns for human motion analysis and simulation
... for the orientation parameters. Intrinsic metrics and closed-form geodesics are available in each ...obtain a straight line motion in Cartesian space for the TCP and ... Voir le document complet
8
Singular perturbation of optimal control problems on multi-domains
... † AND ZHIPING RAO ‡ Abstract. The goal of this paper is to study a singular perturbation problem in the framework of optimal control on ...optimal ... Voir le document complet
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Singular Optimal Control of a 1-D Parabolic-Hyperbolic Degenerate Equation
... Komornik and P. Loreti, Fourier series in control theory, Springer, ...controllability of scalar conservation laws in the vanishing viscosity limit, SIAM, ...J. Control ... Voir le document complet
18
On the Delta set of a singular arithmetical congruence monoid
... to the values of α and ...on the structure of ACMs, including Theorem 4.2 and some of its ...properties of ACMs have already been investigated; in ... Voir le document complet
16
On the singular set of the parabolic obstacle problem
... Lamberton, and B. Lapeyre, Variational inequalities and the pricing of American options, Acta ...Kinderlehrer and G. Stampacchia, An introduction to variational inequalities and ... Voir le document complet
14
THE CONVOLUTION ALGEBRA OF SCHWARTZ KERNELS ON A SINGULAR FOLIATION
... be a singular foliation. We write U hol (F ), or just U hol , for the maximal atlas generated by all path-holonomy ...make a couple of technical remarks about this defini- tion. ... Voir le document complet
23
BSDE formulation of combined regular and singular stochastic control problems
... consider a class of continuous-time stochastic control problems involving two different controls: a regular control affecting the state variable in an absolutely ... Voir le document complet
11
On products of singular elements
... elements, the function f and its i - 1 first derivatives vanish at ...(tx)dt and the conclusion ...exemple of a ring where the sequence Si is not stationnary and ... Voir le document complet
15
Singular optimal control model of stock dependent environmental policies
... represent a small but growing part of forest policies in many countries, including Central ...instruments in environmental policy: stock dependent subsidies, σ, which serve to establish forest ... Voir le document complet
31
Contribution to Analysis and Control of Linear Singular Fractional-Order Systems
... responses of the closed-loop system with α = 0.5. 2.8 Conclusion The preceding paragraphs have been devoted to the description of the non-integer derivation and its use ... Voir le document complet
159
Hyperbolicity of singular spaces
... true in most cases without having to take small subgroups Γ ′ ⊂ ...shown in the Hilbert modular case (Ω = H n and Γ the Hilbert modu- lar group) that, except finitely many cases, ... Voir le document complet
17
Singular constant control trajectories and transition degeneracies in a closed 4-level quantum system
... with A, B defined by (41); λ belongs to the interval [−10, ...CONCLUSIONS In this paper, we focus on global controllability for a 4- dimensional quantum ...prove a negative result to ... Voir le document complet
7
Asymptotically minimum variance estimator in the singular case
... Span(B) and Span(Cov(s T )) = ...3: In their discussions about the generalization of the optimal weighted subspace fitting approach, Cardoso and Moulines [7] have introduced ... Voir le document complet
5
Fractional robust control of a nonlinear plant : Control of a nonlinear testing bench using the singular perturbation technique and the CRONE approach
... to the linearization by diffeomorphism and input-output feedback Taking into account two (or even more) time-scales can help with the analysis, simulation and control of a ... Voir le document complet
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