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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
321

A steady state tip control strategy for long reach robots

Lewis, Jeremy January 1996 (has links)
The work presented in this thesis describes the development of a novel strategy for the steady state tip position control of a single link flexible robot arm. Control is based upon a master/slave relationship. Arm trajectory is defined by through 'master' positioning head which moves a laser through a programmed path. Tip position is detected by an optical system which produces an error signal proportional to the displacement of the tip from the demand laser spot position. The error signal and its derivative form inputs to the arm 'slave' controller so enabling direct tip control with simultaneous correction for arm bending. Trajectory definition is not model-based as it is defined optically through movement of the positioning head alone. A critical investigation of vacuum tube and solid state sensing methods is undertaken leading to the development of a photodiode quadrant detector beam tracking system. The effect of varying the incident light parameters on the beam tracker performance are examined from which the optimum illumination characteristics are determined. Operational testing of the system on a dual-axis prototype robot using the purpose-built beam tracker has shown that successful steady state tip control can be achieved through a PD based slave controller. Errors of less than 0.05 mm and settling times of 0.2 s are obtained. These results compare favourably with those for the model-based tip position correction strategies where tracking errors of ± 0.6 mm are recorded.
322

The development and evaluation of computer vision algorithms for the control of an autonomous horticultural vehicle

Southall, John Benjamin January 2000 (has links)
No description available.
323

A framework for behavioural control in computer animation

Ho, Carlos S. N. January 1996 (has links)
No description available.
324

Evolving visually guided neural network robot arm controllers for lifetime learning

Rathbone, Kevin January 2000 (has links)
No description available.
325

Robot tracking with advanced ultrasonics

Kuang, Wen-Tao January 2000 (has links)
No description available.
326

Experiments in animal-interactive robotics

Vaughan, Richard January 1998 (has links)
No description available.
327

Process models for the navigation of high speed land vehicles

Julier, Simon J. January 1997 (has links)
No description available.
328

Non-minimum phase effects in geared robot transmissions and their resolution using a differential drive

Ontanon-Ruiz, Javier January 1996 (has links)
No description available.
329

Dynamic modelling and control of a wheeled mobile robot

Albagul, Abdulgani January 2001 (has links)
No description available.
330

Modelling, control and locomotion of a twelve degree of freedom biped robot

Akdas, Davut January 2001 (has links)
No description available.

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