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In this paper, we present a general approach to develop a kinematic controller for any serial robots using Programmable Multi-Axes Controller (PMAC) and MoveIt!. PMAC, a commercial product for motion control, is an all-in-one embedded system to control motion, amplify signals and acquire sensor information. MoveIt! is a state-of-the-art software for kinematics-based manipulations. It integrates many...
Many corporations have produced various teach pendants. However, most of these products are exclusive in terms of communication protocols and robot programming languages. Therefore, programs and teach pendant are usually not exchangeable between robots. To tackle this problem, we present U-Pendant, an open source universal teach pendant for serial robots based on Robot Operating System (ROS), a meta-operating...
Chemical, biological, radiological, nuclear, and explosive (CBRNE) defense is a very critical issue in today's world and there is a trend to apply unmanned systems in such emergencies. Mobile manipulator is one typical representative and the performance of the manipulator matters a lot for the task. In this paper, the requirement of the manipulator for a sampling task is analyzed and a lightweight...
This paper investigates joint relay selection (RS) and power allocation (PA) in cognitive radio (CR) systems, in which relay nodes operate in amplify-and-forward (AF) mode. In contrast to the conventional schemes, we take into account the performance of the secondary user (SU) which acts as the relay. A two-step optimization scheme is proposed to maximize system throughput with minimum rate guarantees...
In this paper, we consider the problem of joint relay selection and power allocation in a cognitive radio (CR) network, where a secondary user (SU) source communicates with a secondary access point (AP) assisted by a set of SU relays. Each SU in this set not only acts as a potential relay but also has its own data transmission requirement. Keeping the interference to the primary user (PU) below a...
The trajectory of a revolute welding robot with six joints was planned in order to make the trajectory smooth and working time optimal. The time intervals between each point to be welded in Cartesian space were coded in binary, and the trajectory was implemented using an adaptive genetic algorithm while considering constraints of displacement, velocity, acceleration and jerk of each joint. According...
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