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The aging population and high labor cost have accelerated the need for service robots for household activities. The household activity being diverse robot training over dynamic environments is required. Our work aims in developing an algorithm for teaching a manipulator to perform a task. Teaching pendant simplifies the process of teaching for the end user and also trains manipulator to a user specific...
In this article, we demonstrate the application of diamagnetically levitated milli-robots for the 2D micro-assembly of 10-μm polymer microspheres and other silicon microfabricated parts. By using an optical microscope for feedback (imaged at 27 Hz), we are able to demonstrate long-term open-loop stability (up to 78 hr) and sub-micron stability of the levitated micro-robots. Furthermore, due to the...
A novel algorithm for planning robotic manipulation tasks is presented in which the base position and joint motions of a robot are simultaneously optimized to follow a smooth desired end-effector trajectory. During the optimization routine, the manipulator's base position and joint motions are planned simultaneously by strategically moving a set of virtual robot arms (each representing a single configuration...
Robotic manipulation of highly deformable materials like cloth is a challenging problem due to the high dimensionality and the need for multiple grasped points to fully manipulate the material. Previous methods focused on developing detailed models for the material representation and its interaction with the robot in order to generate a motion plan. In this paper, we expand on our previous work in...
Cable-driven parallel robots inherit the advantages of serial and parallel manipulators, besides these robots do not have parallel robot's structural restriction. Utilizing the cables instead of conventional rigid arms in parallel and serial mechanisms causes challenges. Due to intrinsic properties of the cables, one of the challenges in designing and controlling these mechanisms which has to be taken...
In this work we analyze various methods and techniques for the design and development of robotic arm for agricultural applications. In this paper, a technique by which a robotic arm is controlled using a depth sensor is proposed. The depth sensor captures the user input and inverse kinematics algorithm is used to define the motion of the robotic arm. We develop a robotic arm which imitates the action...
In this paper, the effect of adding sliding mode methodology to the kinematic control of robot manipulators with damped least square (DLS) Jacobian inverse is studied. The proposed controller is experimentally tested on a 6 degree of freedom (DoF) robotic manipulator. Three different types of end-effector path are considered for which the controller performance is evaluated. The results show that...
Common control methods for free-floating robots assume zero initial linear and angular momenta, for which a reduced joint dynamics equivalent to that of a fixed-base robot can be obtained. On the other hand, a disturbance is induced in the system dynamics when the linear or angular momenta are not zero, leading to a deviation of the end effector.
In this research we focus on locomotive robots that move to a target location. In particular, we developed a new brachiation robot with a simple mechanism. The robot uses a hook-shaped end effector for a grasping mechanism. We propose a motion principle and a control strategy for achieving brachiation motion. In particular, we propose a motion principle based on the pendulum motion of a rigid body...
This paper proposes path planning and motion control for a 3 DOF massage robot. The trajectory planning and implementation is achieved through the feedback of position coordinates of end effector thereby controlling the motion of the robot along X and Z axis. A new and compact design consisting of magnetic proximity sensors and magnets was proposed for the end effector design to detect the subject...
This paper describes the design and development of a cognitive module for 3D robotic welding using TIG or laser technology. This area is constantly evolving with the needs to solve complex problems of welding automatization and robotization, and also thanks to the continuous advances in measurement technology and robotics. Besides the use of welding robots for serial production with dedicated tightly...
Using diamagnetic micro-manipulation, micro-robots (∼10 mm in size) with specialized end-effectors are able to grasp and manipulate small light weight (∼mg) carbon fiber elements to construct macroscopic cubic carbon fiber trusses (∼1000 parts and 300 mm long) that can achieve mechanical crush performances surpassing those of commercially available aluminum honey combs. Employing low cost micro-robots...
Playing an important role in our everyday life, robot arms need the controlling systems for effectively moving each part in the desired movement, and their manipulation varies across their physical structures. To be precise, arms of the industrial robots used for welding consist of the sequence of jointed arms called kinematic chains and the arm tip called end effector. Such construction typically...
This written paper presents aspects concerning the implementation of the Adaptive Neuro-Fuzzy Inference System (ANFIS) in the resolution of a redundant serial robot kinematics. The kinematics solutions are divided into two categories: direct kinematics solutions and inverse kinematics solutions. To be able to control a robot the most important solutions are the ones for the inverse kinematics since...
The integration of augmented reality (AR) techniques in user interface design has enhanced interactive experiences in teleoperation of robots, hands-on learning in classrooms, laboratory, and special education, and user training in an array of fields, e.g., aerospace, automotive, construction, manufacturing, medical, etc. However, AR-based user interfaces that command machines and tools have not been...
The investigations of this paper are motivated by the scenario of a supervised semi-autonomous humanoid robot entering a mainly unknown, potentially degraded human environment to perform highly diverse disaster recovery tasks. For this purpose, the robot must be enabled to use any object it can find in the environment as tool for achieving its current manipulation task. This requires the use of potential...
This paper introduces the Prophetic Goal-Space Planner (PGP) system developed to accomplish mobile manipulation tasks. Goal-space planning exploits the under-constrained and variable nature of many real-world tasks by defining Cartesian goals in terms of intuitive solution manifolds (e.g., the principal axis of a cylindrical handle, the rim of a valve, the surface of a step) rather than precise points...
This paper addresses the problem of constrained motion for a manipulator performing a task while in contact with the environment, and investigates two force control frameworks, one based on projected inverse dynamics, and one based on optimal control. Firstly, we propose a control method based on projected inverse dynamics, which directly exploits the contact constraints to minimise the instantaneous...
In this paper, a new approach based on amalgamation of Kinect based motion sensing system and human arm kinematics is proposed for motion control of an industrial robot. The proposed approach makes use of the human arm motion during task demonstration to attain positional control over robot motion. To achieve this, the human arm configurations from demonstration workspace are mapped to the robot workspace...
Teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new...
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