Alexa Muller

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  • Alexa Muller
  • Proceedings of the 2005 IEEE International…
  • 2005
Redundant actuation of parallel manipulators admits internal forces without generating end-effector forces (preload). Preload can be controlled in order to prevent backlash during the manipulator motion. Such controlis based on the inverse dynamics. The general solution of the inverse dynamics of redundantly actuated parallel manipulators is given. For the(More)
This thesis introduces the Information-rich Rapidly-exploring Random Tree (IRRT), an extension of the RRT algorithm that embeds information collection as predicted using Fisher information matrices. The primary contribution of this trajectory generation algorithm is target-based information maximization in general (possibly heavily constrained)(More)
The presently existing microcomputer technology makes the realization of a computer assisted patient record system possible in the practice of orthodontics. Advantages and disadvantages of the application of the software used were examined and statements concerning practical pertinence were formulated.
Redundant actuation of parallel manipulators can lead to internal forces without generating end-effector forces (preload). Preload can be controlled in order to prevent backlash during the manipulator motion. Such control is based on the inverse dynamics. The general solution of the inverse dynamics of redundantly actuated parallel manipulators is given.(More)
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