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IJRR
2002
14 years 9 months ago
2002
This paper presents the time optimal trajectories for differential drive vehicles in the unobstructed plane. The wheel angular velocities are bounded, but may be discontinuous. Th...
IJRR
2002
14 years 9 months ago
2002
Recent research on friction in robot joints and transmission systems has considered meshing friction a position-dependent friction component. However, in this paper we show experi...
IJRR
2002
14 years 9 months ago
2002
We address the motion planning problem (open-loop trajectory design) for manipulating rigid bodies with permanent rolling contact without slipping. This problem is related in part...
IJRR
2002
14 years 9 months ago
2002
In this paper we present a method to control the displacement of a robot arm with no proprioceptive sensor. The joint positions are not available and this manipulator is usually o...
IJRR
2002
14 years 9 months ago
2002
Abstract. This paper discusses a new experimental robot load identification method that is used in industry. The method is based on periodic robot excitation and the maximum likeli...