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When simulating and controlling robot dynamics it is necessary to know the inertial parameters and the joint dynamics accurately. As these parameters are usually not provided by manufacturers, identification is then an essential step in robotics. In addition with the up coming wide-spreading of humanoid robots in the society the identification of humanoid dynamics has became mandatory to insure safety...
This paper presents a manipulator visual servoing algorithm with the Kalman filter. The objective is to control the relative position and orientation between a robot's gripper and an object using a single camera mounted on the manipulator. The feature-based visual servoing control algorithm is used, which continually updates the pose of the robot relative to the object by using the differential changes...
In building construction, steel beam assembly has been considered as one of the most dangerous manual operations. In this paper, applying robotic technologies to the steel beam assembly task is discussed. Employing the robotic systems to automate such construction tasks gives the following advantages: saving construction time and cost, enhancing operator's safety, and improving overall quality. The...
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