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Mobile manipulators are one of the major pillars in the thriving field of service robotics, perhaps mainly due to the wide workspace provided by the mobile base. Exploitation of this vast workspace entails accurate positioning of the robot while overcoming several complexities, such as nonholonomic constraints and actuator limitations. In this paper, we analyze the integration of a vision and path-following...
In this paper, we extend our previous work to introduce a vision-based path coordination method for multiple mobile robots with four steering wheels to avoid mutual collisions, so that the generated paths are always in the visibility range of the overhead camera. The proposed algorithm generates the synchronized trajectories for all wheels belonging to each mobile robot, with respect to its inertial-frame,...
This paper, as a generalization of our previous works, presents a unified time-optimal path-following controller for Wheeled Mobile Robots (WMRs). Unlike other path-following controllers, we solve the path-following problem for all common categories of WMRs such as car-like, differential, omnidirectional, all wheels steerable and others. We show that the insertion of our path-following controller...
To assist operators in precise teleoperation tasks within complex environments, assistance autonomous modules are required. A semi-autonomous path planning module that provides a reliable direction for the operators, is of paramount of importance in this field. This paper proposes a novel assisted method using a fixed camera for guiding the operator to control the manipulator remotely. The method...
Path planning is one of the indispensable modules of autonomous mobile robots that delineates a collision-free path between two desired positions in an obstacle-cluttered workspace. In this paper, we propose a global path planning method in the image plane using a single overhead camera based on the principle of artificial potential fields. Our algorithm optimally fuses an image-based technique for...
Mobile robots with independently steerable wheels provide better robustness and efficiency compared to the other types of omnidirectional mobile robots. However, the non-holonomic constraints and singular configurations give rise to several challenging issues in exploiting the high maneuverability features of the robot. Many proposed motion controllers for such robots force the robot to stay outside...
Visual servoing techniques are widely used in the design of autonomous controllers for various robotic arms performing object manipulation in 3D space. Path planning in image space has been studied widely in order to generate the feasible trajectories for the visual servoing controllers. The main idea of image space path planning is to derive a practical paths for image features while taking into...
Mobile robots with independently steerable wheels possess many high maneuverability features of omnidirectional robots while benefiting from better performance and capability of moving on rough terrains. However, motion control of such robots is a challenging task due to presence of singular configurations and unboundedly large steering velocities in the neighborhood of those singularities. Many proposed...
In this paper, we address the problem of motion control for a mobile robot with four independently steer and drive wheels. Our solution fully takes advantage of steerability of all wheels and provide capability of independent control of translation and rotation of the robot. Using non-linear control techniques, we provide a motion control law that makes the base follow a given desired smooth path...
In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme...
We propose a systematic solution for real-time software development for safety critical mechatronic systems. The solution is based on Matlab/Simulink toolboxes and off-the-shelf drivers provided by hardware manufacturers, to address software development challenges in the area of PC based automation. In many cases, developers especially control systems designers found themselves immersed in technical...
In this paper, we present gait-generation algorithm for a four legged robot which can move in four directions: forward, backward, right and left directions. The robot can also have a combined locomotion including rotation along with each of the four mentioned movements at the same time. Stability is the other issue that we deal with in this paper. Several different methods have been developed to assess...
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