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In this paper we investigate an application in which a serial manipulator is engaged in a task driven state transition learning through a set of basic behaviours (i.e. inherited actions). The approach is based on an extension of the SARSA reinforcement learning algorithm. In particular, the case under study consists in the control of the end-effector position sequences of a custom serial manipulator...
A multistage data-driven neuro-fuzzy system is considered for the multiobjective trajectory planning of Parallel Kinematic Machines (PKMs). This system is developed in two major steps. First, an offline planning based on robot kinematic and dynamic models, including actuators, is performed to generate a large dataset of trajectories, covering most of the robot workspace and minimizing time and energy,...
In this paper, the quadratic-programming (QP) based scheme-formulation is employed to handle the joint-angle-drift problem of a redundant three-link planar robot arm with its end-effector moving along different types of trajectories (e.g., a Lissajous-figure path, a triangular path and an elliptical path). The physical constraints such as joint limits and joint velocity limits are considered as well...
Based on the analysis of motion behaviors of animals, a new idea of controlling vibration of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and introduced to the topological structure of the flexible manipulator. By way of planning the independent local motion provided by the controllable local degrees of freedom, the end-effector deformation...
In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace. Three typical tasks are considered, namely stabilization of the end effector over the object's surface, motion planning and eventually trajectory tracking of the end effector across the object's surface. The proposed controllers utilize navigation functions and...
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