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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...
Learning by observation is a useful goal for humanoid robots that strive for human-like motion. Over time the movements and actions of these robots are likely to require modification for different scenarios and environments. Therefore being able to `teach' the robot new tasks and motions without tedious programming is highly useful. The operational space formulation is a highly elegant robot manipulator...
It is interesting to observe from human visually guided tasks that visual feedback is not used for the entire movement, but only at end phases when our hand is near the target. We are able to move our hand from an initial position that is not within our field of view and transit smoothly and easily into visual feedback when the target is near. Inspired by this natural action, this paper presents a...
A novel geometric algorithm is proposed that assures a smooth path around the obstacle by generating a virtual sphere around it. The spherical virtual sphere algorithm (SVSA) makes the end-effector (the outermost tip of a closed gripper and hence, considered a point object) of the robot manipulator navigate along the orthodrome, the shortest path connecting the end-points of the obstacle avoidance...
In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace. Three typical tasks are considered, namely stabilization of the end effector over the object's surface, motion planning and eventually trajectory tracking of the end effector across the object's surface. The proposed controllers utilize navigation functions and...
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