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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...
Robot Swarm is widely used in many applications such as forest fire detection, Search and rescue missions. Swarm of Robots is supposed to move together without collision and avoid obstacles while performing its target task. Therefore, the formation control of robot swarm is required to achieve the swarm robot target. In this paper, we present an adaptive formation control algorithm for robot swarm...
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...
This paper presents a motion planning algorithm for generating optimal collision-free paths for robotic vehicle with two trailers moving autonomously. The proposed algorithm is based on combination between artificial potential field method (APF) and optimal control theory. The optimal control theory is applied to generate an optimal collision-free path for robotic vehicle from a starting point to...
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...
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