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This paper presents a position control strategy based on energy attenuation for a planar three-link active-passive-active (APA) underactuated manipulator in horizontal plane. The control objective is to move the end effector from any initial position to any desired position. First, the target angle of the first link is obtained by using the geometric constraint relationship of the system. Next, the...
This paper proposes position control system based on measurements of an inertia measurement unit (IMU) sensor (composed of a gyro sensor and an acceleration sensor) attached on the tip position of a 2-link planar manipulator. To estimate joint angle from only one IMU sensor, velocity applied to end effector is required. However, it is difficult to measure accurate velocity from integration of measurements...
A number of haptic devices have recently become available on the commercial market, and these devices are becoming common not only in research but in consumer use as well. In this paper, a new parallel mechanism, referred to herein as DELTA-R (meaning DELTA-Redundant, formerly referred to as DELTA-4) is proposed for a new haptic device having high-quality force display capability and operability....
Tracking a surface via the end-effector of a manipulator is a tough issue, one not only should implement the position and force control, but also monitor and sense the actual contacting state between the end-effector and the object's surface. In this paper, we present an approach integrating the tactile sensing with force-torque information as the feedback to control the manipulator tracking a surface...
In this paper, based on new presented approach for forward kinematic problem, length measuring system for Stewart platform is designed. The analysis is performed by using a software platform which models the system dynamics and control. A typical feedback linearization method is used to design the controller system and performance of designed controller is studied numerically with respect to measuring...
Humanoids are increasingly used in the service sectors around the world to work with, or assist humans. However current humanoid designs place limitations on direct engagement with the human in terms of safety and usability. In this paper, we present an approach for the control of hybrid, high-speed and safe human-robot interaction systems with highly non-linear dynamic behavior. The proposed approach...
Standing up from a supine position is an important human activity of day life. It is of equal importance for the humanoid robot. This paper presents the concept of humanoid robot SJTU-HR1, researches on the characteristics of lying and standing state using the generalize function (GF) set, and gets the interested end effectors (EEs). Then the work focus on analysis of the state transition from lying...
A new simpler vision based robot control system is proposed characterized which position specific artificial neural network (ANN) and end-effecter integrated camera system. Position specific ANN avoids the difficulty of covering the whole joint space with changing parameters using one set of ANN, and end-effecter integrated camera system makes the image of an object consistent when the end-effecter...
This paper suggests a novel reaction force control in a robot manipulator by position feedback that is motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control. In order to clarify functions...
In this paper, the problem of position and force control of a robotic manipulator in contact with the environment is considered. The Hybrid Impedance Control (HIC) methodology is employed to control the position of the end-effector in such a way that the robot exhibits a desired dynamic property and hence desired Impedance which in turn results in tracking the interaction force. It is assumed that...
This paper presents control and implementation of the mobile manipulator with balancing mechanism whose goal is to serve human being in home environment. The mobile manipulator has two arms to handle objects. Not only position control but also force control of the balancing service robot is presented. The robot has two modes to move : mobile robot mode with 4 contact points and balancing mode of 2...
This paper deals with the trajectory planning of a full-rotate parallel robot for wafer transfer operations. With the path length in work space of the robot as parameter, the dynamic model is parameterized. The system constraints-input torque and velocity constraints and the task constraints-output velocity, acceleration, and jerk limits are set; with the minimized operation time as the optimization...
A new algorithm based on Evolutionary Strategies is proposed for finding a robot manipulation path. Next scenario is considered: Given a learned Manipulation Path in the space of configurations, a real-time optimal path is calculated when mobile robot base is in a different position and orientation near to the original localization. The optimization problem is formulated as the minimization of the...
During the last five years, we developed two types of humanoid arms called as RoMAN and RAMeX. RAMeX has been developed for imitating human arm motions with low cost, whereas RoMAN is a high-end humanoid arm module with micrometer precision. The authors have noticed that such humanoid arms and the robotic arms for surgery have a close similarity in their functions and structures. All of them imitate...
This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential...
This paper presents an approach to the indirect simultaneous positioning task of deformable objects based on robust linear output regulation methods. Indirect control requires maneuvering control points defined on a deformable body to desired locations by manipulating points located elsewhere on the object. The proposed control scheme uses a linearization of the deformable object dynamics into a state-space...
We propose in this paper a new concept of unified position/orientation control of robot manipulator by describing the end-effector motion as a dual quaternion involving both translation and rotation. The development of the forward kinematic model and Jacobian matrix in dual quaternion space is detailed as well as the stability of the controller. At last, simulation and experimental results highlight...
We consider the problem of enabling a robot to autonomously open doors, including novel ones that the robot has not previously seen. Given the large variation in the appearances and locations of doors and door handles, this is a challenging perception and control problem; but this capability will significantly enlarge the range of environments that our robots can autonomously navigate through. In...
Inverse kinematics computation has been one of the main problems in robotics research. An inverse kinematic analysis addresses the problem of computing the sequence of joint motion from the Cartesian motion of an interested member, most often the end effector. Traditional methods such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. In...
We aim to improve the absolute in line positional accuracy of a robot-guided effector to better than 1 mm. We do so using photogrammetric techniques and by relying heavily on simulations to fine tune each parameter and avoid weak configurations. We also use simulations to design an LED calibration object adapted to this application. A test procedure enables us to validate both the simulated results...
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