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Design and characterization of a novel monolithic serial-kinematic XYZ nanopositioner stage with a fixed-free configuration for high-speed Atomic Force Microscopy is presented in this article. The objective is to develop a compact serial-kinematic AFM scanner for high-speed imaging. A design methodology based on the analytical stiffness calculations to determine optimum range and natural frequency...
In this paper we develop an adaptive version of the so-called modified Prandtl-Ishlinskii model of hysteresis. This model is able to capture various shapes of hysteresis and, moreover, it admits an explicit mathematical formulation for the inverse model. The Lyapunov-based adaptation is then used to compensate the hysteretic nonlinearities of an unconventional actuator based on magnetic shape memory...
This paper details the derivation of a 3D dynamic model for simulation, which supported the development of the CliffRider concept; a novel robotic system that has the capability of abseiling steep, crater like terrain. The CliffRider system comprises an autonomous single wheeled platform, tethered by two winches mounted on the plateau of the cliff of descent. The simulation integrates the state variable...
Flexible objects such as clothes are hard to be handled by robots. But the working conditions for laundry factories of linen supply industry are severe because of dusts, heats and steams, and full automation systems which can handle clothes are highly required. To automate these factories, two clothe handling systems have been developed. One is the system to input the washed clothes to the pressing...
This paper deals with the problem of odor source localization using multiple mobile robots. A cooperative control solution, which is used to coordinate the robot group to locate the odor source, is proposed and independently executed by each robot. Firstly, a particle filter, which can estimate the position of the odor source by using all observations among the robot group, is used. Secondly, based...
This paper deals with the design and analysis of a spherical parallel mechanism (SPM) to be used as a haptic device for a medical application. The chosen application is mini invasive surgery during which an anastomosis technique has to be performed. First, the task space, necessary to perform an anastomosis technique, which consists in suturing two parts of a ruptured hollow organ, was determined...
A pneumatic robot arm driven by pneumatic actuators was developed as a versatile end effector for material handling systems. The arm consists of a pneumatic hand and pneumatic wrist. The hand can grasp various objects without force sensors or feedback control. Therefore, this study aims to control the wrist motions to expand the hand motion's space. The hand is shaped like that of a human being, and...
This paper presents the design and development of a musculoskeletal-inspired robot manipulator using the third prototype of the spiral motor developed in our laboratory. The spiral motors represents the linear contraction/extension of the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Workspace was evaluated and simulations were done in some control...
In recent years, the demand for a robot that plays an active part in medical treatment and nursing has been increasing. The robot that interacts with humans should not only have a high output but should also be safe and flexible. We adopted a pneumatic artificial muscle as an actuator of the robot manipulator to satisfy these requirements. Pneumatic artificial muscles are lightweight and have a high...
This paper presents the hardware mechanism and software architecture of a singer robot system called EveR-2. EveR-2 is an android robot platform has human-like appearance and shows its emotion with facial expression and gestures. The skin of the head, arms, hands and legs is made of silicon jelly to give human-like texture. EveR-2 has sixty-two degrees of freedom in the head, neck, arms, hands, torso,...
Rovers are one of the most important mission devices for planetary exploration. The Lnar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. Recently, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Because the ground...
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design positively using the braking force. This paper proposes enclosing control in which deviation from a target trajectory is controlled by a brake mechanism. First, the principle of the enclosing control is described. Second, an experimental setup using two PDC pneumatic cylinders equipped with...
In this work we investigate the exploration of an environment with multiple vehicles using a strategy based on occupancy grids and a technique of simultaneous localization and mapping (SLAM). The exploration strategy uses concepts of costs and utility from frontier cells. Besides, the used SLAM method is based on a FastSLAM algorithm with landmarks extracted from visual sensors and a common map of...
This paper proposes a novel kinematic calibration technique to estimate entire geometric parameter errors of robot manipulator. There always exist small errors in link length and link twist for physical manipulators. These errors eventually affect the precision in kinematic equations, and cause inverse kinematic equations to calculate joint angle values having errors. In order to solve these problems,...
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