Essays about: "minimum jerk"

Found 4 essays containing the words minimum jerk.

  1. 1. Online Minimum Jerk Velocity Trajectory Generation : for Underwater Drones

    University essay from Uppsala universitet/Avdelningen för systemteknik

    Author : Jakob Andrén; [2023]
    Keywords : reference generation; minimum jerk; rov; underwater drones; trajectory;

    Abstract : This thesis studies real-time reference ramping of human input for remotely operated vehicles and its effect on system control, power usage, and user experience. The implementation, testing, and evaluation were done on the remotely operated Blueye Pioneer underwater drone. READ MORE

  3. 2. Evaluation of Model-Based Design Using Rapid Control Prototyping on Forklifts

    University essay from Linköpings universitet/Reglerteknik

    Author : Lovisa Jansson; Amanda Nilsson; [2019]
    Keywords : Rapid Control Prototyping; Model-Based Design; Forklift; Automatic control; Speedgoat; Model Predictive Control; MPC; P Controller; Models; Simulink; Matlab; Minimum Jerk Trajectory;

    Abstract : The purpose of this thesis is to evaluate Rapid Control Prototyping which is apart of the Model-Based Design concept that makes it possible to convenientlytest prototype control algorithms directly on the real system. The evaluation ishere done by designing two different controllers, a gain-scheduled P controllerand a linear Model Predictive Controller (mpc), for the lowering of the forks of aforklift. READ MORE

  4. 3. Online Predictions of Human Motion

    University essay from KTH/Skolan för teknikvetenskap (SCI)

    Author : Andreas Edvardsson; Lucas Grönlund; [2017]
    Keywords : ;

    Abstract : Collaboration between humans and robots is becoming an increasingly commonoccurrence in both industry and homes, more so with every forthcomingtechnological advance. This paper examines the possibilities of performinghuman hand movement predictions on the fly, e.g. READ MORE

  5. 4. Model-Based Design of a Fork Control System in Very Narrow Aisle Forklifts

    University essay from Linköpings universitet/Reglerteknik

    Author : Erik Bodin; Henric Davidsson; [2017]
    Keywords : truck; forklift; turret; head; turret-head; hydraulics; proportional valve; model-based design; model-based; control; toyota;

    Abstract : This thesis explains the model-based design of a fork control system in a turret head operated Very Narrow Aisle forklift in order to evaluate and push the limits of the current hardware architecture. The turret head movement consists of two separate motions, traversing and rotation, which both are hydraulically actuated. READ MORE