Blar i NTNU Open på forfatter "Pchelkin, Stepan"
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Contributions to Trajectory Planning and Control for Industrial and Service Robotics
Pchelkin, Stepan (Doctoral theses at NTNU;2017:354, Doctoral thesis, 2017)This thesis describes several contributions to some classical and new problems in robotics that appear in motion and trajectory planning, motion and trajectory representation, and motion control where we suggest new ... -
Developing New Abilities for Humanoid Robots: How to Plan/Control a Sit-Down
Kalia, Oscar Ram (Master thesis, 2020)Denne rapporten omhandler biped humanoide roboter og utvikling av nye evner for disse, med fokus på å trygt sette seg ned. Modellering, planlegging og analyse av denne bevegelsen er utført, ved å bruke en simplifisert ... -
Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems
Sætre, Christian Fredrik; Shiriaev, Anton; Pchelkin, Stepan; Chemori, Ahmed (Chapter, 2020)Transverse linearization-based approaches have become among the most prominent methods for orbitally stabilizing feedback design in regards to (periodic) motions of underactuated mechanical systems. Yet, in an n-dimensional ... -
On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD+ and Inverse Dynamics Controllers
Pchelkin, Stepan; Shiriaev, Anton; Robertsson, Anders; Freidovich, Leonid B.; Kolyubin, Sergey; Paramonov, Leonid; Gusev, Sergey (Journal article; Peer reviewed, 2017)Orbital stabilization is one of the available alternatives to the classical asymptotic stabilization, known as the reference tracking control, which is typically considered and implemented for controlling motions of ... -
Time Optimal Motion Planning and Motion Control for Industrial Manipulators
Røv, Marius Nordheim (Master thesis, 2014)The ever growing need to make industry more efficient and safe has introduced robots as potential replacements for manual labour. Even minor increases in productivity can generate substantial profit in production, which ...