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For autonomous robots to manipulate objects in unknown environments, they must be able to move their arms without colliding with nearby objects, other agents or humans. The simultaneous avoidance of multiple obstacles in real time by all link segments of a manipulator is still a hard task both in practice and in theory. We present a systematic scheme for the generation of collision free movements...
High performance control of robotic systems, including the new generation of humanoid, assistive and entertainment robots, requires adequate knowledge of the dynamics of the system. This can be problematic in the presence of modeling uncertainties as the performance of classical, model-based controllers is highly dependant upon accurate knowledge of the system. In addition, future robotic systems...
Current CAM (computer aided manufacturing) platforms store the toolpath information as a set of positions and orientations of the milling tool in a cartesian coordinated system defined in the working space, being the most standardized both G code (DIN 66025) and APT code (DIN 66215). These platforms come prepared for the control and postprocessing of up to a maximum of 5-axis trajectories (i.e., three...
Hyper-redundant (HR) (snake-like) robotic manipulators are particularly adept at navigating narrow, convoluted paths, but have traditionally been difficult to model and control. In this paper, we outline a nonmodel-based control methodology, which allows a five-joint HR robot to traverse a foam channel of unknown curvature using the robot actuators as sensors. The robot is fitted to a waveform which...
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