The attitude control of a spacecraft using magnetorquers can be obtained by using attitude feedback, instead of state feedback, with the advantage of not requiring the installation of attitude rate sensors, thus saving cost, volume, and weight. In this work, an attitude feedback with four design...
01a Articolo in rivista
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The problem of partitioning systems of independent constrained-deadline sporadic tasks upon heterogeneous multiprocessor platforms is considered. Several different integer linear program (ILP) formulations of this problem, offering different trade-offs between effectiveness (as quantified by...
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The realization problem is fundamental in control systems theory and is well understood for linear systems. The situation is quite different for nonlinear systems with or without time delays. New results are given herein either as an abstract characterization of the class of delay–free nonlinear...
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In order to operate in human-populated environments, robots need to show reasonable behaviors and human-compatible abilities. In the so-called Symbiotic Autonomy, robots and humans help each other to overcome mutual limitations and complete their tasks. When the robot takes the initiative and asks...
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In 1947, N. Herlofson proposed a modification to the 1884 Heinrich Hertz’s Emagram with the goal of getting more precise hand-made weather forecasts providing larger angles between isotherms and adiabats. Since then, the Herlofson’s nomogram has been used every day to visualize the results of about...
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We consider the known phenomenon of torque oscillations and motion instabilities that occur in redundant robots during the execution of sufficiently long Cartesian trajectories when the joint torque is instantaneously minimized. In the framework of online local redundancy resolution methods, we...
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With reference to robots that are redundant for a given task, we present a novel and intuitive approach allowing to define a discrete-time joint velocity command that shares the same characteristics of a second-order inverse differential scheme, with specified properties in terms of joint...
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We present an efficient method for addressing online the inversion of differential task kinematics for redundant manipulators, in the presence of hard limits on joint space motion that can never be violated. The proposed SNS (Saturation in the Null Space) algorithm proceeds by successively...
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