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Due to the iteration-varying initial position, it is complicated in path-tracking for the mobile service robot. Perspective dynamic system (PDS) provides a theory to formulate the system, which transmits from the apparent motion to the image plane and provides a good control theoretic framework to estimate motion problem. The proposed iterative learning control (ILC) algorithms not only consider errors...
We present a hybrid programming method for industrial robots combining advantages of manual haptic guidance of the end-effector and programming approaches using non-haptic pointing gestures for the spatial definition of poses and trajectories. Whereas the bare-hand spatial interaction can be implemented and performed cost- and time-efficiently but lacks accuracy, haptic-interaction is more time-consuming...
Robotic systems are a typical example of complex systems. Their design involves a combination of different technologies, requiring a multi-disciplinary approach. This is particularly challenging when a robotic system is required to interact either with humans or other entities within its environment. To tackle this complexity, we propose a design and validation approach based on MDE (Model-Driven...
The path planning method is an important element in the architecture of all mobile robots with certain degree of autonomy. An appropriate path planning method provides the robot the ability to move in a previously known environment while avoiding collisions with obstacles along the way. Additionally, this method should generate optimal trajectories from one point to another. In this work the optimal...
This research proposes the motion design for the service robot to give the positive impression to the human. The impression to the robot affects the quality of the service being provided by the robot. Thus the positive impression may maintain or improve the quality of the service. This paper, therefore, considers the normative motion to give the positive impression to users, and implements the motion...
In their search for perfection and competitiveness, Colombian industrial concerns now see in robotics a viable way to improve their processes. On such ground, this paper proposes design methodology of a parallel Delta-type industrial robot. This type of robot is an alternative for Colombian industries, since its great advantages of Speed, Precision, and Accuracy make it usable in product packing and...
This article describes the development of a trajectory planning system which controls the movement of a tele-commanded mobile robot through machine vision techniques and fuzzy algorithms. Using a conventional camera, the scene in which the mobile is moving is captured. Then, by means of image processing techniques, the obstacles are segmented and using a variation of the fuzzy c-means algorithm, the...
In order to optimize the performance of the palletizing robot, one circle trajectory planning algorithm is introduced in this paper. Firstly, to reduce the sudden discontinuous change of the robot, which induces vibrating, overshoot and settling time of the working, speed, acceleration and deceleration are considered. Secondly, one cubic polynomial function is applied, based on that, one smooth (what...
In this paper, we study the problem of door-opening by using a modular re-configurable robot (MRR) mounted on a tracked mobile platform. The main concern of opening a door is how to prevent the internal forces that occur because of the positioning error or the imprecise modeling of the environment, i.e., the door parameters. Most previous research is based on compliant control, which makes the control...
This paper presents a particle swarm optimization (PSO) algorithm for optimal configurations of an omnidirectional mobile robot with a five-link robotic arm. Although the mobile robot agilely maneuvers from one pose to another and easily performs some kinds of tasks, the inverse kinematics problem of the overall system is redundant. This efficient PSO algorithm is proposed to search for the global...
A mobile manipulator service robot comprising a mobile platform with a three-link arm mounted on top of the platform is considered. A torque compensation control approach is proposed for the robust motion control of the robot. Considering the coupling disturbance between the platform and the manipulator, the nominal model of service robot is built, applying computed torque and proportion-differential...
The paper describes progress achieved in our long-term research project ShopBot, which aims at the development of an intelligent and interactive mobile shopping assistant for everyday use in shopping centers or home improvement stores. It is focusing on recent progress concerning two important methodological aspects: (i) the on-line building of maps of the operation area by means of advanced Rao-Blackwellized...
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