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Mobile Robot Navigation techniques are important for path calculation towards a target, avoiding collisions in an unknown environment. The existing robot navigation techniques conclude a diverse spectrum of applications in 2D space. But navigation solutions in 3D space have been hardly addressed by the researchers for a combination of a mobile platform and a robot arm. This paper proposes a novel...
Bilateral control is one of the high-tech control technologies available in transmitting haptics information from one point to another point successfully. In past few years, a fair amount of researches has been carried out with different control strategies, hence bilateral control has been implemented practically in various fields recently. In most of the practical scenarios, time delays, chattering...
This paper describes the navigation of a two-wheel drive mobile robot along a predefined path under uneven road conditions where it cannot solely rely on encoders, GPS or an accelerometer individually. There are conditions when low friction or slippery ground surfaces such as sandy paths and pits cause one or both encoders to halt or rotate less as the robot moving forward. Areas covered with clouds,...
Active suspension is an emerging technology used to improve the contact, comfort and control of vehicles and in other vibration suppression applications. Different methods are used to control the actuator force exerted between the sprung mass and unsprung mass in order to achieve the active suspension. Most of the other research areas have introduced LQR controllers, Fuzzy logic controller methodologies...
This paper proposes a new product concept of an electronic travelling aid with haptic perception for the visually impaired people. The device is much similar to the conventional white cane in appearance and it is fabricated using ultrasonic sensors, a vibrator motor scheme, a controller and a power unit inside the walking stick. The sensor system comprises of three ultrasonic sensors to acquire obstacle...
Manipulating mobile robots on a pre-defined path is a challenging task when there are unknown objects on its path. Most of the manipulators use gripping methods to move such obstacles. In this research, an object to be pushed in a predefined path is considered. Estimation of the point of contact is important to control the mobile robot in its desired path. This paper introduces a novel concept called...
In recent years, although there are many researches on bilateral control, there is only little research on improvement of operationality. It will be so effective for operators to improve the operationality of the bilateral control system. In a bilateral control system, the law of action and reaction between master system which the operator manipulates, and the slave system which has contact with the...
Elephants have to maintain stability of a body weighing 2700 kg – 4500 kg in a wide range of unstructured terrain conditions. To achieve this, the dynamic walking control strategies of an elephant should be able to manage the large inertial forces working on the leg muscles. Therefore, understanding the gait patterns of an elephant can indicate the possible robust control strategies that an elephant...
Current control is essential for torque control. But available current controllers don't provide the required facilities for torque control. Often they produce a sluggish response. In this paper we propose an embedded system based current controlling method using the disturbance observer. Dynamic model of the DC motor is analyzed electrically and mechanically. Then the proposed method is analyzed...
Motion control usually includes the precise control of position/velocity and acceleration control while accurate acceleration control is not useful in many applications. Traditional position/velocity control is derived by feedback based, PID controllers. However the disturbance observer further increases the stability and robustness of the controller. In this paper we assess the effectiveness of the...
This paper introduces a low cost method of sensing position using a optical sensor. Main objective of this study was to overcome the shortcomings associated with the conventional contact type of position sensors using a low cost device. In a slippery terrain, rotary encoder based data often produce erroneous results, whereas, if optical based method is used it would be preferred. For this study, PAN...
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