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In this paper, a redundantly actuated chewing robot with two higher kinematic pairs (HKPs) is presented, which can be used in performance test and evaluation of denture material. The robot has six actuators, but only has four degrees of freedom, due to constraints of two HKPs which mimic two temporomandibular joints (TMJs) of human. Quasi-static force analysis in occlusion status is performed to calculate...
This paper presents the development and control of a novel active needle for percutaneous intervention. Using vision feedback of the actual tip of the needle, inverse kinematics based closed loop control in tracking a 3D curved path is performed. Shape Memory Alloy (SMA) wires are deployed as actuators for the developed active needle system. In-air experiments are performed to evaluate and validate...
Light weight manipulator is characteristic of high load to weight ratio and high speed operation capability, so it has good prospect for application in warehousing logistics and agricultural picking. In this paper, a 4-DOF lightweight arm is designed and its control system and kinematics are studied. Firstly, the control system of the manipulator is determined. A distributed control system (DCS) based...
In this study, the mechanical model of the electronically controlled knee prosthesis is developed, forward and inverse kinematic analyses are performed, and trajectory tracking for joint space is obtained, respectively. The analyses were carried out considering a cycle of gait walking at a constant speed. Thus, position, velocity and acceleration data of the prosthesis of joint space required for...
Generating a walking pattern for a legged robot is not an easy task. In the literature there are different proposed approaches: mathematical, model-based and bioinspired methods in order to generate such walking patterns for legged robots. In this article we present the K3P algorithm, conceived to command a robotic legged platform to travel along an arbitrary trajectory, using the velocity of the...
Autonomous electric vehicle path following area has known wide improvement during the last previous years especially with the appearance of new sophisticated control algorithms. The main focus of these control algorithms is to guarantee high performance in term of stability and path tracking with small distance error. In this research, an overview about the most common technics used in autonomous...
In order to solve the problem that the existing parallel manipulator is expensive, complicated design and complicated control, this paper designs a three-degree-of-freedom parallel manipulator with cam-driven single power input. The manipulator is cheap and widely used. And then its kinematics research. The freedom degree analysis of the manipulator is completed, and the kinematics is obtained. And...
In this paper a numerical approach for the position, velocity and acceleration analysis for a 5R parallel manipulator is presented. 5R parallel manipulator is a two degrees of freedom planar mechanism which has been extensively studied by analytical methods. In this work, the use of computational tools such as Matlab and ADAMS is proposed in order to solve the inverse and forward kinematic problem...
In this paper, an algorithm for the integration of output tracking and trajectory generation via analytic left inversion is provided. The first step is to identify an output path using a known trajectory generation algorithm, and then a spline approximation of the path is computed. The second step is to solve the output tracking problem by explicitly computing the left inverse of the input-output...
This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure...
Anti-torpedo torpedoes (ATT), as a kind of new defense underwater weapon, are widely applied on the active defense systems. In order to effectively combat the target, ATT needs better manipulation and faster navigation strategy. In the present paper, the guided trajectory of ATT is studied in detail by motion simulation. In order to study the guided trajectory characteristics of ATT, the kinematics...
This paper presents a method of kinematics modeling and trajectory planning for NAO robot object grasping. In order to judge and grasp objects autonomously, this method combines the image analysis and kinematics knowledge. Firstly, the collected images by the NAO robot are processed through threshold segmentation and median filtering. According to the shape information of the object, the NAO robot...
This paper presents a new cascade control architecture formulation for addressing the problem of autonomous vehicle trajectory tracking under risk and comfort constraints. The integration of these constraints has been split between an inner and an outer loop. The former is made of a robust controller dedicated to stabilizing the car dynamics while the latter uses a nonlinear Model Predictive Control...
In this paper, the problem associated with accurate control of a four-wheel steering mobile robot following a path, while keeping different desired absolute orientations and ensuring different desired lateral deviations, is addressed thanks to a backstepping control strategy. In particular, the control of each steering angle is investigated through a new parallel steering approach based on an extended...
This paper presents a stochastic optimal control approach suitable for implementation on small unmanned aerial vehicles (UAV). The controller provides tracking of a target at a desired distance, keeps the target away from the sector of blind spots and prevents flying over the target to avoid the flipping images in the camera's recorded sequence. The controller is based on a two-dimensional stochastic...
In this paper, we present a mid-level collision avoidance algorithm for autonomous surface vehicles (ASVs) based on model predictive control (MPC) using nonlinear programming. The algorithm enables avoidance of both static and moving obstacles, and following of a desired nominal trajectory if there is no danger of collision. We compare two alternative objective functions, where one is a quadratic...
The present research describes the design and implementation of a programming by demonstration algorithm, where data is taken from a human narrator and then processed and imitated by the social robot Nao. This has been done by the use of artificial neural networks and inverse kinematics algorithms, resulting in a 7.25% trajectory difference when comparing the instructor movements with the robot learned...
This work implements two trajectory tracking control systems for a differential drive WMR (Wheeled Mobile Robot). The first control system employs an IO PD (Integer Order Proportional Derivate) controller, while the second uses a FO (Fractional Order) PD controller. The IO PD controller becomes a FO PD controller by making fractional the derivative term. That is, replacing the Laplace operator s by...
In this paper, the kinematics model of six-DOF manipulator is established by D-H parameter method, and the joint space method is used to carry out trajectory planning. Then, we use the Robotics Toolbox of Matlab to solve the inverse kinematics of each trajectory curve, the joint angle curves draw on the time axis exist local mutation, and then adopt the inverse kinematics method based on the fsolve...
This paper presents a non-geometric method for solving the inverse kinematics of a ship motion simulation system having Delta structure as shown in Fig. 1, and then investigated the problem of path tracking control generally. As the complexity of the joint structure of this system, obtaining the inverse kinematics is difficult and computationally expensive and traditional methods such as geometric,...
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