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This paper presents a scheme for high-update rate wheel mobile robot (WMR) posture, velocities, and perturbation estimation using real-time kinematic global positioning system (RTK-GPS) and inertial sensors for WMR control in the presence of wheel skidding and slipping. An outdoor estimation system based on Kalman filtering combines the inertial measurements with centimeter accuracy RTK-GPS measurements...
In this paper we study the problem of controlling a micro robot which moves either on a line or on circle of predetermined radius. Locomotion constraints of this type are usual in micro robots, and therefore, it is important to have efficient and easy to implement ways of coping with these constraints. To solve the problem we present a multilevel motion controller that can be easily implemented on...
This paper is a contribution to an invited session on the benchmarking of parallel mechanisms. The aim of the session is to compare different existing designs and prototypes of parallel mechanisms using a common set of benchmarking criteria. First, the kinematic architectures of parallel mechanisms of the multipteron family are presented. In addition to the tripteron and the quadrupteron, the pentapteron,...
In this paper the invited session and the 4 original contributions are described first. Then the details of the first paper in the invited session is presented. In this first paper a new method for calculating the dynamic stiffness (frequency response) of parallel kinematic machines (PKMs) with six links, or Hexapods, is presented. The method assumes that each link and universal joint can be described...
Despite of a promising potential robots based on parallel kinematic structures have not yet found their way into industry on a large scale. One of the main reasons for that is a workspace to installation-space ratio, which usually is inferior to that of their serial counterparts. In this paper development and design issues of a triglide-robot based on the linear delta are presented. Using a workspace...
The great majority of path following control laws for either kinematical or dynamical mobile robot models are designed assuming ideal actuators, i.e. assuming that any commanded velocity or torque (in the kinematical and dynamical cases respectively) will be instantly implemented regardless of its value. Real actuators are far from being ideal. In particular, only bounded velocities and torques can...
In this article, a new kinematic and a dynamic model for a 3-degree-of-freedom Gantry-Tau parallel kinematic robot are presented. Similar to an earlier proposed kinematic model, the dynamic model is based on the assumption of parallel actuator axes and constant end-effector orientation. The new kinematic model takes into account rotations of actuator axes which do not affect the end-effector orientation...
We consider the problem of modeling a robotic marionette. Marionettes are highly under-actuated systems that can only be controlled remotely by moving strings. We present a mixed dynamic-kinematic modeling technique that removes the controller dynamics from the marionette, resulting in a clean abstraction that represents the dynamics of the marionette in a natural way. As an example, a model is derived...
Several triaxial accelerometers are known. However, to the knowledge of the authors, no true, triaxial accelerometers are commercially available. By true we mean an accelerometer which would pick up the three components of point-accelerations using one single proof-mass. What we propose is novel architecture classes of parallel-kinematics-machine for multi-axial accelerometers, that is, accelerometers...
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