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In this paper, an acceleration sensor is utilized to calculate the absolute acceleration and velocity of the end-effector of a redundant 3-link planar manipulator. Generally speaking, the measurement of the acceleration sensor includes high-frequency noise and initial bias error, so a linear Kalman filter is applied to estimate exact acceleration information of the manipulator. In addition, joint-space...
In this paper, two disturbance observer (DOB) based explicit robust force control systems, in which a force sensor and a reaction force observer (RFOB) are used to detect contact forces, are compared in terms of stability, robustness and performance. A force sensor detects contact forces implicitly by estimating the strains of a strain gauge. The compliancy of a force sensor degrades the stability...
Mapping is one of typical tasks carried out by an Autonomous Mobile Robot (AMR). Unknown maze is a good example for mobile robot to exercise its ability to perform mapping task. Other fields also need this application such as in exploring an unknown environment such as dessert, forest, new setup building, etc. When performing an exploration task, AMR normally is equipped with ranging sensors to scan...
This paper presents a novel method for joint sensor faults detection and faulty signal reconstruction. It uses the Virtual Joint Sensor (VJS). The model structure of the VJS consists of two interconnected models: The simple Linear Inverted Pendulum Model (LIPM) and the robot leg kinematics model (LKM). Kalman filter based on LIPM estimates the Center of Mass (CoM) position of the biped. The LKM uses...
Workers protection in collaborative industrial robotics application represents the predominant aspect of robot safety in production systems. Flexible production systems and multimodal human-robot interactions often encompass cooperative tasks that are performed in fenceless configurations. Collaborative open workspaces enable, in fact, a workflow of continuously interchangeable tasks done by operators...
The well-known Brocket's theorem revealed that nonholonomic systems, hopping robots, for example, can not be stabilized by smooth time-invariant state feedback controllers. In this manuscript, we propose a linear time-varying state feedback controller for stabilizing a nonholonomic hopping robot during flight mode in finite time. The current approach is novel in the sense that we modify the Pontryagin's...
This paper presents an implementation with mobile robot to generate actions to interact with children with autism. The robot is able to detect the child localization and approach him/her, keeping a safe proximity minimum (interaction distance). The mobile robot is equipped with laser sensor to obtain distances and an embedded control system for the interaction. The implementation allows two modes...
Autonomous mobile robots navigation and control systems are still hugely important in real time robotic applications. When moving towards fully autonomous navigation, guidance plays a vital task for successful autonomous navigation. In this paper, the authors propose real time guidance fuzzy logic application based on edge and color information surrounding the road surface by using omnidirectional...
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