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Robotic ground vehicles are commonly used in various road conditions for performing special tasks with different levels of autonomy. This requires the robots to possess a certain degree of perception about the road conditions up ahead and make plans accordingly. It is essential for the robots to be able to quickly adapt their perception for various road conditions they operate. In this paper, an adaptive...
Cable-drum systems are utilized to convert the rotary motion of a drum into a translational motion of a linear stage connected to the cable. These systems are preferred where low backlash and high stiffness is expected. They are commonly employed in machines like elevators, photocopy machines, printers, plotters etc. For machines having long working ranges, cable-drum systems employing a high resolution...
This paper focuses on a novel command generator for servo-motor drives to be used as an integral part of their motion controllers. The method, which incorporates a new data compression algorithm, is capable of generating trajectory data at variable rates. In this paradigm, higher-order differences of a given trajectory (i.e. position) are first computed and thus the resulting data are compressed via...
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