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A design concept for a Robotic Pole Manipulator equipped with an advanced, intelligent controller is presented. The concept was developed for wooden poles up to 55 ft length, but is scalable for use with poles of larger dimensions and different materials. The concept is based on a truck-mounted articulating crane with hydraulic gripper. The crane and gripper are equipped with position sensors to provide...
In the forest industry, trees are logged and harvested by human-operated hydraulic manipulators. Eventually, these tasks are expected to be automated with optimal performance. However, with todays technology the main problem is implementation. While prototypes may have rich sensing information, real cranes lack certain sensing devices, such as encoders for position sensing. Automating these machines...
A goal of our research is to produce a light-weight, low-cost five fingered robotic hand that has similar degrees of freedom as a human hand. The joints in the fingers of the developed robotic hand are powered by a newly proposed strings transmission named “Twist Drive”. The transmission converts torque into a pulling force by using a pair of strings that twist on each other. The basic characteristics...
Typical gripping systems for industrial robots have a predefined geometry which is suitable for only a specific part. The reutilization for other parts is restricted and associated with high effort for manual changeover. The presented paper shows a flexible gripping system with the possibility of self-adaptation to different workpieces. The adaptation is based on a robot-guided gripping system having...
In this work an interface based on inertial sensors with applications for unilateral master - slave robotic teleoperation is developed. In such tasks the interface with which the user interacts plays a key role. In general the interface should be comfortable and to allow free user motion. The interface here proposed is composed of two portable inertial sensor units which are placed on the upper and...
This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme...
We present a novel combination of motion planning techniques to compute motion plans for robotic arms. We compute plans that move the arm as close as possible to the goal region using sampling-based planning and then switch to a trajectory optimization technique for the last few centimeters necessary to reach the goal region. This combination allows fast computation and safe execution of motion plans...
This paper presents a method for controlling the zero moment point (ZMP) of walking robots by using spring-mass systems mounted on the robot body. A pair of oscillating spring-mass systems makes a swing motion of the ZMP via periodic change of the spring forces. In contrast to usual methods, where ZMP is controlled through motion planning in terms of joint trajectories, the proposed method is not...
The mobile robot with an orthogonal-wheel assembly has omnidirectional motion ability and simple kinematic model for controller design. However, two sliced spheres that switch upon movement are likely to cause disturbances that act on the wheeled motor robot (WMR)'s body. The purpose of the traditional control for a WMR is high joint control stiffness using odometry, which might worsen the trajectory...
A bidirectional force feedback dataglove actuated by pneumatic artificial muscles is introduced which has simpler exoskeleton structure and exerts bidirectional force only on the fingertips. Moreover, its fewer attachments can reduce the effect of the attachment looseness on the accuracy of position and force control. It meets all needs of virtual reality and the requirement of hand rehabilitation...
A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and...
An articulated aerial work platform is a type of off highway vehicle with a long/flexible beam to provide temporary access to inaccessable areas. The motivation of the research is to improve productivity and safety of the work platform via advanced control schemes. In this paper, a motion control architecture is presented for trajectory tracking and vibration suppression. By using the sensors integrated...
In this paper two novel methods of encircling objects for the purpose of grasping them are demonstrated and compared. Firstly, a method that does not require in-depth models or sophisticated external sensors is described. Such a method does have its disadvantages such as requiring tuning on the part of the operator to work correctly. Therefore, the paper also describes a new method that plans where...
The paper deals with development and realisation of the motion control for a very precise mechanism of a rocking knife driven by an electrical drive. The rocking knife provides transversal cutting of a moving steel strip into flat sheets of various, adjustable lengths. After development of mathematical model of the controlled mechanism there is designed the trajectory of the mechanism and based on...
We present a method that allows automatic reaction of a robot to physical collisions, while preserving as much as possible the execution of a Cartesian task for which the robot is kinematically redundant. The work is motivated by human-robot interaction scenarios, where ensuring safety is of primary concern whereas preserving task performance is an appealing secondary goal. Unexpected collisions may...
It is a key issue for mobile robot navigation to have the ability of accurate and reliable dead reckoning. Aimed at this issue, dead reckoning of mobile robot in complex terrain is analyzed by the rigid-body kinematic constraints of mobile robot. At the same time, the kinematic model of mobile robot is obtained using multiple proprioceptive sensorspsila information from odometry, fiber optic gyro,...
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