Spline Path Following for Redundant Mechanical Systems PROJECT TITLE :Spline Path Following for Redundant Mechanical SystemsABSTRACT:Path following controllers make the output of a management system approach and traverse a prespecified path with no a priori time-parametrization. In this paper, we have a tendency to gift a method for path following management style applicable to framed curves generated by splines within the workspace of kinematically redundant mechanical systems. The class of admissible paths includes self-intersecting curves. Kinematic redundancies are resolved by planning controllers that solve a suitably outlined constrained quadratic optimization problem. By using partial feedback linearization, the proposed path following controllers have a transparent physical meaning. The approach is experimentally verified on a four-degree-of-freedom (four-DOF) manipulator with a mixture of revolute and linear actuated links and important model uncertainty. Did you like this research project? To get this research project Guidelines, Training and Code... Click Here facebook twitter google+ linkedin stumble pinterest Two Techniques for Assessing Virtual Agent Personality Investigation of Ultrasmall $1times N$ AWG for SOI-Based AWG Demodulation Integration Microsystem
