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In this paper an aerial robotic system with two arms for long reach manipulation (ARS-LRM) while flying is presented. The system consists of a multirotor with a long bar extension that incorporates a lightweight dual arm in the tip. This configuration allows aerial manipulation tasks increasing considerably the safety distance between rotors and manipulated objects. The objective of this work is the...
The disadvantage that the iterative learning control (ILC) requires a learning process again for achieving another motion has been overcome by the basis-motion torque composition (BMTC). However, the increase of robot joints may cause difficulties in motion selections due to the algorithmic issue. We investigated the issue in motions of a three-joint robot arm in gravity and proposed a resolution...
Crustal movement is a key factor affecting water cycle and related land surface processes. In this paper, the principle of a class of crustal movement simulation system (CMSS) is introduced. The CMSS proposed in this study is composed of twelve sets of four-legged parallel manipulator with three degrees of freedom. The structure of the parallel manipulator with actuation redundancy is analyzed. In...
Dynamic roadmaps (DRM) are a planning approach for robots in changing environments where fast replanning is required. DRMs are based on a precomputed graph in the configuration space and mappings from workspace voxels to vertices and edges in the graph, which allows for computation times below 100 ms. While dynamic roadmaps can in principle be applied to dual-arm motion planning, it may be beneficial...
This paper proposes a method for maximizing the speed of the multilink manipulator gripper motion along a spatial trajectory with the current signal constraints and the input voltage of its servo drives factored in. We have studied various modes in which the synthetic system operates while processing the spatial end-of-arm motion trajectories of a varying curvature.
This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) formulas. In particular, we propose a distributed model-free control protocol for the trajectory tracking of the cooperatively manipulated object without necessitating feedback of the contact forces/torques or inter-agent...
This study considers a robotic pitching task with the goal of implementing dynamic manipulation. The strategy used to control the pitching direction of the ball is based on human pitching action, and involves rolling the fingers on the ball at release. The effect of varying the time of release in the pitching direction is analyzed based on ball dynamics. Experiments to test the proposed method featured...
The ability of a robot to be able to change the shape is not something impossible to do. This research introduce such changeable shape robot named PodRacle, which has two basic forms; a form of a six-legged robot and a form of spherical robot. Combining the two basic forms, the PodRacle robot can result in increasing efficiency of a six-legged robot motion on a flat surface by means of rolling movement...
In this paper, we try to draw attention to a particular type of force that has been somehow overlooked in the control of mechanical manipulators: gyroscopic force. At first, we broaden our understanding of gyroscopic effect intrinsic in mechanical systems by reformulating the Euler-Lagrange (EL) equation in terms of a gyroscopic part and the non-gyroscopic ones (or Rayleigh type). Then, we propose...
This work presents different types of neuronal structures to evaluate their performance as a controller, using a robotic arm for that purpose. To study the performance of the controllers, the first step is to study the system in which the controllers will be applied. After that, different strategies of control need to be studied, in this case based on neural networks. Then the entire system can be...
The increasingly pervasive usage of robotic automation not only calls for a high performance of physical robot manipulators, but also implies challenging requirements on 3D robot simulators. A skillful reaction of simulated robots to unpredicted contact forces has become an especially stringent necessity to support the development of emerging applications for which a compliant robotic manipulation...
This article describes the design and construction of an anthropomorphic robotic arm capable of performing activities difficult or avoid collisions within your workspace, which is controlled by a computer program where the user indicates the target position and orientation to be achieved by the robot TCP. The software programmed in Matlab is developed, it calculates the angular displacements of the...
By applying direct derivative dynamics (DDD or D3), gradient neural dynamics (GND) and Zhang neural dynamics (ZND) at joint-jerk level, three novel solutions (namely, of types Z1D1G1-D1Z1G1, D2Z1-D1Z1D1-Z1D2 and D1Z2-Z1D1Z1-Z2D1) are proposed, developed and investigated in this paper. It is the first time that a relatively complete hybrid solution framework is proposed at the joint-jerk level. Then,...
This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional...
A novel underactuated manipulator possessing high self-adaptation ability is designed. The manipulator is highly underactuated as it contains several cable-bar units controlled by a single motor through a cable. The transfer matrix which reveals the correlation among cable tension force, joint frictional torques and grasping force is established by using vector mechanics and the principle of virtual...
It has long been a challenge to control the end-effector trajectory of mechanical manipulators using only taskspace parameterization. While there exist some taskspace control strategies (such as the potential energy shaping) that guarantee the convergence of the end-effector to the target point without any inverse transformations, how to make the end-effector follow a desired path during the intermediate...
Time-optimal motion planning for robotic manipulators consists of moving the robot along a path in Cartesian space as fast as possible. In contrast to time-optimal path following, small deviations from a predefined path are acceptable and can be exploited to further reduce the overall motion time. In this paper, we present a new method to compute time-optimal motions around a path. By employing an...
This paper proposes a novel multi-articular leg system for biped robot. The structure and actuation scheme of the mechanism are inspired by redundantly-actuated manipulators, of which actuators span over multiple joints like bi-articular muscles. The proposed mechanism for robotic leg contributes to improved capacity in end-effector force exertion, which allows less performance requirements in individual...
In this paper, synchronization of nonlinear teleoperation systems in the presence of non-passive and uncertain conditions in both the operator and the environment is studied. Despite existing approaches in the literature which are based on linear impedance models, the proposed approach in this paper has considered uncertain nonlinearities in the impedance model which results in better tracking performance...
This paper deals with the optimal motion of a mobile manipulator for dragging a heavy object with the end effector. When the object is moved a certain distance, the torques that are consumed in the mobile manipulator during the motion are minimized by numerical optimization. In the optimized motion, the arm mounted on the mobile base passes through its singular configuration, and a large force to...
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