Blar i NTNU Open på forfatter "Shiriaev, Anton"
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Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics
Herrera, Leonardo; Orlov, Yury; Montano, Oscar; Shiriaev, Anton (Journal article; Peer reviewed, 2019)Robust periodic motion generation is developed for a class of mechanical systems with actuator dynamics. The virtual constraint (VC) approach is first refined under incomplete state measurements and it is then extended to ... -
Modeling a Multi Locomotion Robot for Biped Walking
Kihle, Ken Andre (Master thesis, 2012)The task is to deduce a reduced model based on biped walking for the 24-DoF Gorilla Multi locomotion robot from Fukuda Lab, Nagoya University. Further, the dynamic equations of the reduced model shall be realized, and a ... -
Modeling and System Identification of the Industrial Manipulator ABB IRB 140
Nguyen, Hai Duy Thai (Master thesis, 2012)NA -
Modelling, motion planning and control for performing feasible rolling motion of a passive disc on a frame of the Butterfly Robot
Pons Alcalá, Ignacio (Master thesis, 2020)The Butterfly robot consists of a passive disc rolling on a robot hand represented by a varying curvature frame, which has a shape of figure eight and which orientation can be controlled by DC-motor. In this way, the motion ... -
Motion Planning for Robotic Manipulators
Kristiansen, Ruben (Master thesis, 2014)In this thesis motion planning for robotic manipulators is considered. A mathematical model describing the kinematics and dynamics of a manipulator based on a bounding box model of ABB's IRB140 is developed. Variants of ... -
Motion Planning Framework for Industrial Manipulators using the Open Motion Planning Library (OMPL)
Barland, Martin (Master thesis, 2012)Robotic manipulators are used in many different scenarios these days. If one of these manipulators is moved from one location to another it may require a total reprogramming of that manipulator because of the new environment ... -
New Results on Trajectory Planning for Underactuated Mechanical Systems with Singularities in Dynamics of a Motion Generator
Surov, Maksim; Gusev, Marjan; Shiriaev, Anton (Journal article; Peer reviewed, 2018)The new approach to the problem of motion planning for underactuated mechanical systems is proposed. The novelty comes from new opportunities to handle singularities of the dynamics of the motion generator provided that ... -
On excessive transverse coordinates for orbital stabilization of periodic motions
Sætre, Christian Fredrik; Shiriaev, Anton (Peer reviewed; Journal article, 2020)This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions of nonlinear control-affine dynamical systems. It is shown that the dynamics of any (minimal or excessive) set of transverse ... -
On Orbital Stabilization as an alternative to Reference Tracking Control
Sætre, Christian Fredrik; Shiriaev, Anton (Chapter, 2020)With the purpose of highlighting the concept of orbital stabilization as an alternative to the reference tracking control methodology, this paper considers simple, informative examples in relation to motion control of an ... -
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 ... -
Optimal Throwing Motion of Three-Link Underactuated Robot: A Study of Virtual Holonomic Constraints
Lillehammer, Brede Løvik (Master thesis, 2014)Control design for weakly or underactuated systems, i.e. more degrees of freedom than number of control inputs available, has proven to be much more complex than fully actuated due to the new constraints it impose. This ... -
Optimering og design av kontroll-software for Schunk PG-070
Ringstad, Anders (Master thesis, 2014)Oppgaven går hovedsakelig ut på å implementere en adaptiv kontroller til en Schunk PG-70 griper, for å kompensere for friksjonskrefter som oppstår på grunn av gir, støv og kontakt mellom materialer inne i griperen.En rask ... -
Orbital Stabilization of Nonlinear Underactuated Systems
Sætre, Christian Fredrik (Doctoral theses at NTNU;2022:353, Doctoral thesis, 2022)Orbital stabilization is a particular form of set stabilization, where the control objective is to induce, via time-invariant state-feedback, an asymptotically stable orbit in the resulting closed-loop system. Here an orbit ... -
Orbital Stabilization of Point-to-Point Maneuvers in Underactuated Mechanical Systems
Sætre, Christian Fredrik; Shiriaev, Anton (Journal article; Peer reviewed, 2023)The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ... -
Path Planning, Dynamic Trajectory Generation and Control Analysis for Industrial Manipulators
Myhre, Torstein Anderssen (Master thesis, 2011)Many unsolved problems exists in the field of robot control.This text investigates state of the art methods for path finding, trajectory generation and control in order to identify their properties, which problems they are ... -
Path-searching for Rolling Motion of the Two-Link Acrobot With Curved Links
Henriksen, Øystein (Master thesis, 2012)Mathematical models are designed for the Acrobot with Curved Links. From these models, the reduced system dynamics are derived, and used for a numerical search routine which aims to find a closed trajectory of a rolling ... -
Performing Dynamic Manipulation of a Rolling Object on the Butterfly Robot with Perturbation in System Parameters
Brecke, Ruben B. (Master thesis, 2021)En av de vanskeligste aspektene ved ˚a reprodusere menneskelig atferd i robotikk er ˚a utføre ikke-prehensile (ikke-gripende) objektmanipulering. Dersom roboter skal kunne integreres i en menneskeskapt verden, m˚a de være ... -
Planning and Control of Energy Efficient Manipulation Task for ABB 1600 robot
Hansen, Lars Roen (Master thesis, 2016)Due to the ever increasing number of industrial robots in the world, working day and night producing and manufacturing, a need has arisen to make sure that these robots work energy efficient. This is both to make robots ... -
Planning and Control of Locomotion for a Quadruped: Studying the Curvet Gait
Lode, Stian (Master thesis, 2009)In many ways, the simple act of walking is one of the most complex modes of locomotion there is. For control-system scientists the periodic hybrid dynamical nature of walking systems presents a number of unique challenges, ... -
Planning and Performing Dynamic Manipulations: A Case Study of the Butterfly Robot
Omberg Often, Gustav (Master thesis, 2021)To matematiske modeller for sommerfugl-roboten blir funnet, én med fire frihetsgrader og én med to frihetsgrader. Modellen med fire frihetsgrader blir brukt til å finne kreftene som opprettholder begrensningene i systemet ...