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This paper aims at introducing an optimal design methodology for the Stewart Platform robot controlled by a PD position controller. This optimal design method intends to maximize the positioning accuracy by using metaheuristic optimization methods. The structure design variables of the mechanism combined with the gains of the controller are the structure-control design variables. The structure-control...
Important drawbacks of parallel kinematic machines can be partially overcome by the use of redundancy. Despite of some trade off issue, redundancy is a promising solution to achieve improved dynamic performance and energy efficiency. This manuscript describes preliminary numerical results on the rational use of three levels of kinematic redundancy of a 3 (P)R RR parallel planar manipulator. Moreover,...
In this paper, we present a low cost localization system that exploits dense image information to continuously track the position of a camera in 6DOF. It leverages of the use of a set of selected "key frames" separated in distance from which a depth map is available to create a local 3D point cloud. In this way, we avoid the computational overload caused by common dense sequential approaches...
The development of mobile robots is related to multidisciplinary areas of mechanics, electronics, computing and biology. Current research have made possible the development of robots that assist in exploration, rescue and rehabilitation, using artificial intelligence techniques, optimization and dynamic analysis of multibody systems. This work aims the synthesis of a humanoid robot and presents the...
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