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The purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot's performance. Different factors intervene in this choice. However, the...
In this paper, we have attempted to focus on the kinematics velocity and dynamic modeling of a biped robot with seven mechanical links, six actuators and 3 degree of freedom. The Jacobian matrix is used to represent the analytical expressions of the Cartesian speed of the hip in terms of the joint speed and vice-versa. We did not represent the forward and inverse kinematic velocity modeling of the...
It's interesting for a collaborative group of mobile robots to be able to identify and localize each other without referring to external beacons. In this context, we are able to develop a localizer model by combining an extended Kalman filter with an ultrasonic sensing model and synchronize them by a communication protocol among mobile agents. The approach we present in this paper consists of embedding...
This paper deals with the problem of trajectory generation with a motion profile in joint space, the motion profile is a mathematical function that affect the performances of the robot such as the optimization of energy, optimization of time and especially the continuity of movement, in robotics we have three problems to solve, modeling, control and trajectory planning, in this work we developed a...
The purpose of this paper is to propose a method for simulation of a manipulator robot with six degrees of freedom. This method is oriented to solve the problem of absence of real robots which will operate it in validation of mathematical modeling and control of the nonlinear systems. It described in the first part the geometry of the robot manipulator, then the method is used to create this simulator...
This paper deals with the problem of trajectory generation in the joint space, several mathematical functions are used as motion profile. The choice of the motion profile is very important because it affects the performance of the robot. Several factors involved in this choice, but the most important is the smoothness of movement and therefore the continuity of the torque. To see the effect of each...
This paper represents a study of the context of improvement the parallel robots accuracy. We introduced, in the first hand, the different reasons of inaccuracy according to the different references mentioned in our paper as well as the methods used for the calibration and the accuracy improvement. In the other hand, we detailed the description of the direct and inverse geometric modeling of a biped...
This paper reflects the technical and theoretical approaches of the modeling and control of a manipulator robot with six degrees of freedom GT6A. The main objective of this work is to simulate the dynamic behavior of the robot by the PID controller using the CAD design.
An autonomous navigation system for a mobile robot is able to build a map and localize in an unknown environment. Through this paper we present our method for mapping and localization of mobile robots using stereo vision. For mapping we used the hybrid card, consisting of nodes and arcs. Construction of a node is composed by extracting SIFT points and calculates their space projections for depth information...
In this paper we present a new method for mapping and localization of mobile robots. Modelling the environment in this work is based on visual information from a stereo sensor. The work is to extract the two images produced by the sensor stereo invariant local descriptors. Using the parameters of both cameras, as determined by calibration, we calculated the matching points between the left and right...
The motion's generation consists in finding an analytic expression of a motion according to time. A « Map road » type planner or « Cell decomposition » provide to the motion generator some possible free crossing points of collision. The global trajectory's interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which...
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