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About Carnegie University: Mellon
This document is a dissertation submitted by Marcel Bergerman to Carnegie Mellon University in partial fulfillment of the requirements for a Doctor of Philosophy degree in Electrical and Computer Engineering. The dissertation focuses on developing modeling and control methods for underactuated manipulators, which are mechanical systems where not all joints are directly actuated. The summary explores several key topics covered in the dissertation. It analyzes the dexterity and workspace of underactuated manipulators compared to fully actuated systems. It presents the dynamic characteristics and coupling properties of underactuated manipulator models. It proposes control methods for stabilizing all joints to desired positions despite uncertainties and disturbances. It also discusses motion planning approaches to generate collision-free trajectories for underactuated
Detailed Information
| Author: | ['SAN JUAN BAUTISTA'] |
|---|---|
| Publication Year: | 2014 |
| Pages: | 148 |
| Language: | English |
| Format: | |
| Price: | FREE |
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