Improved electromechanical master-slave manipulator

Electric master-slave manipulator uses force multiplication and allows the operator to remotely control the slave arm. Both the master and slave arms execute seven distinct motions by a specially designed force-reflecting servo having a one to one correspondence between the motion at the master and slave

Manipulator Cable With Constant Stress

A manipulator or mechanical arm involves an upper and a lower arm, with a variable angle between them. Cables used to transmit motion and force from the upper to the lower arms pass over a pulley at the joint or elbow. A pulley, axiaily fixed with respect to the joint, imposes a change in length of the cable as the angle between the arms varies. Manipulation design requires a cable of constant length during this variation; this constant length may be achieved by guiding the center of the pulley along the proper path. Acceptable solutions were obtained in terms of variables such as the lengths of each arm, the radius of the pulley, and the angle between the arms. In one design the pulley center is moved along a straight line with respect to the lower arm, while in the other solution the pulley center is moved along a circular arc with respect to the upper amn. Practical and economical mechanisms based on these solutions were investigated for use in manipulator design. (auth

Model-based object recognition from a complex binary imagery using genetic algorithm

This paper describes a technique for model-based object recognition in a noisy and cluttered environment, by extending the work presented in an earlier study by the authors. In order to accurately model small irregularly shaped objects, the model and the image are represented by their binary edge maps, rather then approximating them with straight line segments. The problem is then formulated as that of finding the best describing match between a hypothesized object and the image. A special form of template matching is used to deal with the noisy environment, where the templates are generated on-line by a Genetic Algorithm. For experiments, two complex test images have been considered and the results when compared with standard techniques indicate the scope for further research in this direction