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Decentralized individual control is still the state of the art in industrial applications. While redundantly actuated parallel kinematic machine (RA-PKM) possess desirable kinematic and dynamic properties, their control is impeded by the occurrence of antagonistic control forces. Such antagonistic forces are inherent to the decentralized control of RA-PKM that, together with calibration errors and...
The analysis of singularities is a central aspect in the design of robotic manipulators. Such analyses are usually based on the use of geometric parameters like DH parameters. However, the manipulator kinematics is naturally described using the concept of screws and twists, associated to Lie groups and algebras. These give rise to general and coordinate-invariant singularity conditions on the manipulator...
While redundantly actuated PKM(RA-PKM) possess desirable kinematic and dynamic properties, their control is impeded by the occurrence of antagonistic control forces. Such forces are observed in non-linear model-based as well as in decentralized control schemes. In this paper it is outlined that such antagonistic forces are inherent to the decentralized control of RA-PKM, and also that calibration...
Cellular networks operating with a frequency reuse factor of one are often interference-limited. For that reason, base station (BS) cooperation techniques aiming at mitigating the effects of interference caused by simultaneous transmissions on the same frequency resources in nearby sectors may considerably improve the system performance. However, for that purpose generally high-capacity backhaul links...
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