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This paper presents an external hybrid force/pose controller for a robotic manipulator using a cascade scheme with two control loops. In the outer loop there is a force controller that acts as a perturbation for the position reference, whose purpose is to regulate the force applied by the end-effector during the interaction; the inner loop, which is used to control the end-effector pose (i.e., position...
Light weight manipulator is characteristic of high load to weight ratio and high speed operation capability, so it has good prospect for application in warehousing logistics and agricultural picking. In this paper, a 4-DOF lightweight arm is designed and its control system and kinematics are studied. Firstly, the control system of the manipulator is determined. A distributed control system (DCS) based...
Our article deals with the development of a robotic arm with “open control system” (for this particular application — with two degrees of freedom and possibility to add). The open control system allows, together with the known parameters of our robotic arm, to use advanced control methods. The robotic arm is controlled by a PLC and automatically generated code via tools — BR Target for Simulink. This...
This paper proposes a basic near-environmental recognition framework based on groping for risk-tolerance disaster response robot (DRR). In extreme disaster sites, including high radiation and heavy smog, external sensors such as cameras and laser range finders do not work properly, and such sensors may be broken in accidents in the tasks. It is hoped that DRRs can continue to perform tasks, even if...
This paper presents a method of kinematics modeling and trajectory planning for NAO robot object grasping. In order to judge and grasp objects autonomously, this method combines the image analysis and kinematics knowledge. Firstly, the collected images by the NAO robot are processed through threshold segmentation and median filtering. According to the shape information of the object, the NAO robot...
This paper presents a method to teach a humanoid robot arm a new trajectory by using human-robot shared control. The robot trajectory is first taught by using the technique of programming by demonstration (PbD). If the environment changes for the learned trajectory, a user can intervene and modify the trajectory by using the proposed control method. We propose a method to modify part of the trajectory...
This paper investigates the problem of Teaching by Demonstration (TbD) on a KUKA lightweight robot (LBR). Motions are recorded by a human operator, and then the data is used to model a nonlinear system, i.e., the dynamic motor primitive (DMP). In order to learn from multiple demonstrations, Gaussian Mixture Models (GMM) are employed rather than using conventional Gaussian process for the evaluation...
In this paper is intended to control the entire flexible line using two wheeled mobile robot and two robotic manipulators. The mechatronics manufacturing line has no possibility of automatic feed with pieces and no automatic pickup of the scrap pieces from the storage station. The robotic manipulators are used for charging the buffer of the flexible line as well as emptying the storage station. These...
A two-link manipulator can act as a simple robot for various purposes. Present work describes a two-link manipulator for generating a straight line. The problem, although quite straight forward, has many practical implementation issues. This paper describes a numerical model and experiment with two servo motors controlled by a Raspberry Pi and a 12-bit counter motor driver (PCA9685). Various parameters...
The paper presents a concept of factitious force method used for controlling a 3R space manipulator. It was shown that the method works for a rigid manipulator where one of the joints is damaged and can not be controlled. It is important for space applications to have some means of control while the system is compromised. Control law has been proposed for the task of trajectory tracking and practical...
This paper proposes an extension of the concept of the General Lagrangian Jacobian Inverse from driftless to control affine robotic systems, and presents the corresponding Jacobian motion planning algorithm in the parametric form. A specific choice of the Lagrangian is recommended. The motion planning algorithm is applied to the motion planning problem of a free-floating space manipulator with non-zero...
In this paper, the kinematics model of six-DOF manipulator is established by D-H parameter method, and the joint space method is used to carry out trajectory planning. Then, we use the Robotics Toolbox of Matlab to solve the inverse kinematics of each trajectory curve, the joint angle curves draw on the time axis exist local mutation, and then adopt the inverse kinematics method based on the fsolve...
Aiming at the capturing difficulties for space satellites caused by pose error of the manipulator, a design method of modular reusable locking-release devices based on error field analysis is proposed in this paper. Firstly, error field of the captured trunnion at the bottom of the satellite is analyzed based on the pose error of manipulator terminal and the trajectory of the trapping component is...
This paper presents the development of the advanced robotic interface integrated by electromyography (EMG) device, AR-10 Robotic hand, and Baxter robot. Being very effective to detect muscle activities and import EMG signal, the EMG device can be conveniently programmed to convey the hand gestures of operator and pair with the AR-10 Robotic hand gestures. For instance, the operator can remotely impart...
This paper addresses the optimal kinematic control problem of the mobile manipulators. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. These controllers use a new non-singular Terminal Sliding Mode (TSM) manifold, as being a non-linear integral mapping of the second order with respect to the task space tracking error...
A method of planning sub-optimal trajectory for two mobile manipulators moving the common rigid object is presented. The robotic task is to move the object to a final location in the workspace. Trajectory planning problem is solved using a leader-follower approach. The motions are planned in order to avoid manipulators singularities. Mechanical constraints of the robots are taken into consideration...
The problem of dexterous robotic manipulation of rigid objects by means of a cooperative robotic system is addressed in this paper. It is assumed that the robots can only push the object (unilateral constraints). In order to solve the aforementioned control problem, a centralized control algorithm with bounded torque inputs based on the Orthogonalization Principle and second order sliding mode control...
This paper presents a sliding mode hybrid impedance controller for complex interaction tasks. For easily implementing the scheme in embedded system, it is developed in discrete difference format. The hybrid impedance control is adopted since it is capable for both target impedance and force tracking. Then, the equivalent control based sliding mode control is introduced for robust to external disturbance...
In this paper, we introduce a new scanning technique for detecting landmines and unexploded ordnance (UXO). The manipulator arm carried by a hexapod robot is capable of scanning rough terrain using a typical mine detector. To speed up the landmine detection and marking, both scanning and moving forward will be done simultaneously. The controller will perform two tasks. The first task is to keep the...
Velocity field control (VFC) is an alternative approach for motion control of robotic systems. It has advantages over the trajectory tacking problem when the timing in the desired task is of less importance in the application of interest. Recently, this control strategy has been emerged as a promising control method in robot-aided rehabilitation. Therefore, this paper addresses the problem of VFC...
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