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In this study, a novel time-optimal off-line trajectory planning method, together with a tracking controller, is proposed for a two-dimensional (2D) underactuated overhead crane. Specifically, based on the differential flatness technique, a flat output of the system is firstly defined to deal with the coupling between the payload swing and trolley motion, whose trajectory is parameterised to be a...
This paper analyzes the dynamics of amplitude modulation atomic force microscope (AM-AFM) which is the mostly employed mode in current AFMs. A reduced model is proposed to approximate the function of tip-sample separation to oscillation amplitude. Considering the fact that the model parameters vary with different combinations of piezo-scanner and cantilever as well as the measured sample, a robust...
This paper presents a novel visual servoing strategy for a nonholonomic mobile robot, which is based on a new motion estimation technique. By taking into account the planar motion constraint of mobile robots, the proposed motion estimation technique does not require the estimation and decomposition of the homography or fundamental matrix, and it dose not cause any ambiguity problems. Moreover, the...
This paper presents a novel two-level scheme for active visual servoing of a mobile robot equipped with a pan camera. In the lower level, the pan platform carrying an on-board camera is controlled to keep the target points lying around the center of the image plane. On the higher level, a switched controller is utilized to drive the mobile robot to reach the desired configuration through image feature...
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