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The developed mobile manipulator is primarily composed of a mobile base, a robot manipulator and an eye-in-hand vision system. The material handling of a mobile manipulator has two stages: guiding the mobile base between stations, and picking up a workpiece from a station. Fast landmark recognition and obstacle detection based on color segmentation are proposed for path following, obstacle avoidance...
Trajectory planning problem (TPP) of robot manipulator is a highly constrained and nonlinear optimization problem, aims to minimize the total path motion associated with obstacle avoidance. Based on some certain constraints listed in this paper. A particle swarm optimization (PSO) based algorithm is put forward to solve this issue. The proposed algorithm consists of a hybrid approach regarding SA...
This work concerns the development of advanced robotic systems for nuclear application. The manipulator will be used for light intervention in spent fuel management facilities. The robot must meet severe specifications: small diameter, long reach within a minimum range of 6 m, high dexterity to move in constrained environment and lots of degrees of freedom (DOF) for obstacle avoidance. In order to...
This work concerns the development of advanced robotic systems for nuclear application. The manipulator will be used for light intervention in spent fuel management facilities. The robot must meet severe specifications: small diameter, long reach within a minimum range of 6 m, high dexterity to move in constrained environment and lots of degrees of freedom (DOF) for obstacle avoidance. In order to...
Visual servoing consists of steering a robot from an initial to a desired location by exploiting the information provided by visual sensors. This paper deals with the problem of realizing visual servoing for robot manipulators taking into account constraints such as visibility, workspace (that is obstacle avoidance), and joint constraints, while minimizing a cost function such as spanned image area,...
An important issue in the motion planning and control of redundant manipulators is the online obstacle-avoidance. This paper presents the algorithmic and computational aspects of inequality-based criteria/formulations for obstacle avoidance of PA10 robot arm. The formulations are unified as a quadratic- programming (QP) problem. In addition to handling environmental obstacles, this unified QP problem...
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