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In this paper, the linearization of a nonlinear vector implicit differential equation that describes mechanical systems with application to robotics is established. In order to come to the results, a compact representation via Kronecker product of the partial derivative of the product of vector valued matrix functions is used. Two equivalent representations of the linearized model are derived. Once...
This paper presents a Model Based Visual Servoing (MBVS) control strategy for a differential drive mobile robot navigation using single camera attached on the robot platform. Four points image features are used to compute the angular velocities of the right wheel and the left wheel. The model based visual servoing scheme was simulated using visual servoing platform (ViSP) libraries. The simulation...
A study of kinematic performance of the manipulator with six degrees of freedom KUKA KR5 ARC HW, used in welding arc is presented. The performance of this manipulator will be measured in terms of efficiency in the movement of its joints, making movement of the end-effector. The measure used is called manipulability index, which was proposed by Yoshikawa and will be the basis for calculating the manipulator...
A new method for efficiently mapping three dimensional environments from a platform carrying a single calibrated camera, and simultaneously localizing the platform within this map is presented in this paper. This is the Monocular SLAM problem in robotics, which is equivalent to the problem of extracting Structure from Motion (SFM) in computer vision. A novel formulation of Monocular SLAM which exploits...
Omnidirectional cameras are a popular choice of visual sensors in robotics because their large field of view is well suited for motion estimation and obstacle avoidance. However their practical use is often burdened by the calibration phase that can be time consuming and require an experienced user. The contribution of this work is a simplification of calibration phase by providing a direct approach...
Algorithms solving inverse problems for simple (open) kinematic chains are presented in this paper. Due to very high kinematics chains construction complexity, those algorithms should be as universal as possible. That is why optimization methods are used. They allow fast and accurate calculations for arbitrary kinematics chains constructions, permitting them to be used with success in robotics and...
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