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This manuscript presents a universal control law for a class of complex dynamic systems, such as mobile robots. The trajectory tracking problem is among the major problems in the field of robotics. The proposed universal control law solves the trajectory tracking problem of mobile robots. Despite a large body of research on developing robot's control laws conducted in the literature, the dynamic effects...
This paper presents a technological solution for designing an assistive device for a biomechanical study of the Sit-to-Stand movement (STS). This device targets people with disabilities following a stroke. The control algorithms are implemented in TwinCAT runtime environment. The communication between all the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this...
Haptic refers to feedback of a physical signal to a human user through touch. A haptic system realizes this feedback. In most of the applications today, the physical signal refers to force but not necessary. Virtual environment haptic systems refers to the situation where the force to be feedback from the objects in a virtual environment or computer. Virtual environment haptic robotic systems are...
Pure analytical and numerical approaches are found undesirable for solving inverse kinematics of redundant robots. This is due to huge iterative procedures required to determine efficient joint configuration(s) for given target. In this paper, a new geometric method is presented for solving the inverse kinematics of snake robots ideal for real-time teleoperated surgery of internal organs. The method...
This paper studies a distance-based roll and pitch estimation for unmanned aerial vehicles (UAVs), using four distances between an UAV and surface of the ground. We derive the kinematics of the roll estimation on some assumptions. And then, using the derived roll angle, we represent the kinematics of the pitch estimation. At last, some simulations are performed to verify the derivation of the kinematics.
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