4,505 research outputs found
Design of Experiments for Calibration of Planar Anthropomorphic Manipulators
The paper presents a novel technique for the design of optimal calibration
experiments for a planar anthropomorphic manipulator with n degrees of freedom.
Proposed approach for selection of manipulator configurations allows
essentially improving calibration accuracy and reducing parameter
identification errors. The results are illustrated by application examples that
deal with typical anthropomorphic manipulators.Comment: Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International
Conference on, Budapest : Hungary (2011
Particle Filter based Landmark Mapping for SLAM of Mobile Robot based on RFID System
This paper proposes a novel Simultaneous Localization and Mapping (SLAM) based on distributed particle updates for landmark mapping and validates it with an HFband2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
July 12-15, 2016 at the Banff Centre, Banff, Canada
Free singularity path planning of hybrid parallel robot
This paper presents a singularity-free path planning approach for a hybrid parallel robot. The hybrid robot is composed of two well-known parallel robots, a hexapod and a tripod, that are serially connected. In this paper a methodology is developed to avoid singularity configurations of the hybrid parallel robot. Nominal polynomial paths are used for motion of end effector, and the strokes of each actuator is calculated by using the developed inverse kinematic. A MATLAB program has been developed to generate the designed paths, and several poses have been tested in a CAD model of the hybrid parallel robot to validate the feasibility of the path planning approach
UAV Control in Close Proximities - Ceiling Effect on Battery Lifetime
With the recent developments in the unmanned aerial vehicles (UAV), it is
expected them to interact and collaborate with their surrounding objects, other
robots and people in order to wisely plan and execute particular tasks.
Although these interaction operations are inherently challenging as compared to
free-flight missions, they might bring diverse advantages. One of them is their
basic aerodynamic interaction during the flight in close proximities which can
result in a reduction of the controller effort. In this study, by collecting
real-time data, we have observed that the current drawn by the battery can be
decreased while flying very close to the surroundings with the help of the
ceiling effect. For the first time, this phenomenon is analyzed in terms of
battery lifetime degradation by using a simple full equivalent cycle counting
method. Results show that cycling related effect on battery degradation can be
reduced by a 15.77% if the UAV can utilize ceiling effect.Comment: ICoIAS 201
Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification
In this paper, we present experimental studies on a cooperative control
system for human-robotic networks with inter-robot communication delays. We
first design a cooperative controller to be implemented on each robot so that
their motion are synchronized to a reference motion desired by a human
operator, and then point out that each robot motion ensures passivity.
Inter-robot communication channels are then designed via so-called scattering
transformation which is a technique to passify the delayed channel. The
resulting robotic network is then connected with human operator based on
passivity theory. In order to demonstrate the present control architecture, we
build an experimental testbed consisting of multiple robots and a tablet. In
particular, we analyze the effects of the communication delays on the human
operator's behavior
A Novel Approach for Simplification of Industrial Robot Dynamic Model Using Interval Method
This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the vector of centrifugal, Coriolis and gravitational torques, are very complicated for real-time control of industrial robots. Thus, a simplification algorithm is presented in this study in order to reduce the computation time and memory occupation. More importantly, this simplification is suitable for arbitrary trajectories in whole robot workspace. Furthermore, the method devotes to finding negligible inertia parameters, which is useful for robot model identification. A simulation has been carried out on a test trajectory using a 6-DOF industrial robot model, and the results have shown good performance and effectiveness of this method.ANR COROUSS
Multiform Adaptive Robot Skill Learning from Humans
Object manipulation is a basic element in everyday human lives. Robotic
manipulation has progressed from maneuvering single-rigid-body objects with
firm grasping to maneuvering soft objects and handling contact-rich actions.
Meanwhile, technologies such as robot learning from demonstration have enabled
humans to intuitively train robots. This paper discusses a new level of robotic
learning-based manipulation. In contrast to the single form of learning from
demonstration, we propose a multiform learning approach that integrates
additional forms of skill acquisition, including adaptive learning from
definition and evaluation. Moreover, going beyond state-of-the-art technologies
of handling purely rigid or soft objects in a pseudo-static manner, our work
allows robots to learn to handle partly rigid partly soft objects with
time-critical skills and sophisticated contact control. Such capability of
robotic manipulation offers a variety of new possibilities in human-robot
interaction.Comment: Accepted to 2017 Dynamic Systems and Control Conference (DSCC),
Tysons Corner, VA, October 11-1
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