2,768 research outputs found
Motion Control of Industrial Robots in Operational Space: Analysis and Experiments with the PA10 Arm
Robot Manipulators
Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world
Ros-based control of a robotic leg for a quadruped robot
The sector of Autonomous Mobile Robots (AMR) has grown a lot during the last years. In the literature an AMR is a robot able to move without any human operator control. With the im- provements of the control systems, robots have gained a lot of dexterity and flexibility in the movements, migrating from restrictive mechanical systems like wheeling. AMR with wheels are very efficient on plane grounds, like conventional industrial environ- ments. Nevertheless, they lose efficiency when dealing with rough terrains like the ones you can find on mountain rescue, vineyards or building industry. A good alternative is to use legged robots, which imitate animal walking behaviour, for these types of terrain since they are able to easily overcome these obstacles. The objective of this project is to create a control system for the robotic leg of a quadruped robot. A mechanical leg was developed and implemented at the CDEI for a quadruped robot, aimed for its locomotion in rugged and unknown terrain. This project will create the control system for this leg, so that it can execute the desired motions and it can be later integrated in the com- plete quadruped robot. The system will be designed so that it can be part of the stack of the quadruped robot. In this sense, the control systems software will be developed using the Robot Operating System (ROS) and MATLAB&Simulin
Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
This paper presents a solution based on dual quaternion algebra to the
general problem of pose (i.e., position and orientation) consensus for systems
composed of multiple rigid-bodies. The dual quaternion algebra is used to model
the agents' poses and also in the distributed control laws, making the proposed
technique easily applicable to time-varying formation control of general
robotic systems. The proposed pose consensus protocol has guaranteed
convergence when the interaction among the agents is represented by directed
graphs with directed spanning trees, which is a more general result when
compared to the literature on formation control. In order to illustrate the
proposed pose consensus protocol and its extension to the problem of formation
control, we present a numerical simulation with a large number of free-flying
agents and also an application of cooperative manipulation by using real mobile
manipulators
Dyadic behavior in co-manipulation :from humans to robots
To both decrease the physical toll on a human worker, and increase a robot’s environment perception, a human-robot dyad may be used to co-manipulate a shared object. From the premise that humans are efficient working together, this work’s approach is to investigate human-human dyads co-manipulating an object. The co-manipulation is evaluated from motion capture data, surface electromyography (EMG) sensors, and custom contact sensors for qualitative performance analysis. A human-human dyadic co-manipulation experiment is designed in which every human is instructed to behave as a leader, as a follower or neither, acting as naturally as possible. The experiment data analysis revealed that humans modulate their arm mechanical impedance depending on their role during the co-manipulation. In order to emulate the human behavior during a co-manipulation task, an admittance controller with varying stiffness is presented. The desired stiffness is continuously varied based on a scalar and smooth function that assigns a degree of leadership to the robot. Furthermore, the controller is analyzed through simulations, its stability is analyzed by Lyapunov. The resulting object trajectories greatly resemble the patterns seen in the human-human dyad experiment.Para tanto diminuir o esforço fĂsico de um humano, quanto aumentar a percepção de um ambiente por um robĂ´, um dĂade humano-robĂ´ pode ser usado para co-manipulação de um objeto compartilhado. Partindo da premissa de que humanos sĂŁo eficientes trabalhando juntos, a abordagem deste trabalho Ă© a de investigar dĂades humano-humano co-manipulando um objeto compartilhado. A co-manipulação Ă© avaliada a partir de dados de um sistema de captura de movimentos, sinais de eletromiografia (EMG), e de sensores de contato customizados para análise qualitativa de desempenho. Um experimento de co-manipulação com dĂades humano-humano foi projetado no qual cada humano Ă© instruĂdo a se comportar como um lĂder, um seguidor, ou simplesmente agir tĂŁo naturalmente quanto possĂvel. A análise de dados do experimento revelou que os humanos modulam a rigidez mecânica do braço a depender de que tipo de comportamento eles foram designados antes da co-manipulação. Para emular o comportamento humano durante uma tarefa de co-manipulação, um controle por admitância com rigidez variável Ă© apresentado neste trabalho. A rigidez desejada Ă© continuamente variada com base em uma função escalar suave que define o grau de liderança do robĂ´. AlĂ©m disso, o controlador Ă© analisado por meio de simulações, e sua estabilidade Ă© analisada pela teoria de Lyapunov. As trajetĂłrias resultantes do uso do controlador mostraram um padrĂŁo de comportamento muito parecido ao do experimento com dĂades humano-humano
New Approaches in Automation and Robotics
The book New Approaches in Automation and Robotics offers in 22 chapters a collection of recent developments in automation, robotics as well as control theory. It is dedicated to researchers in science and industry, students, and practicing engineers, who wish to update and enhance their knowledge on modern methods and innovative applications. The authors and editor of this book wish to motivate people, especially under-graduate students, to get involved with the interesting field of robotics and mechatronics. We hope that the ideas and concepts presented in this book are useful for your own work and could contribute to problem solving in similar applications as well. It is clear, however, that the wide area of automation and robotics can only be highlighted at several spots but not completely covered by a single book
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