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This paper presents an implementation and an experimental validation of a virtual structure and a leader-follower flexible formation tracking controllers for car-like non-holonomic mobile robots with velocity and steering controllers in the loops. The formations are flexible in the sense that their formation configurations are defined based on curvilinear longitudinal and lateral relative separations...
This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors...
This paper describes the implementation, demonstration and evaluation of a variety of autonomous, vision-guided manipulation capabilities, using a dual-arm Baxter robot. Initially, symmetric coordinated bi-manual manipulation based on kinematic tracking algorithm was implemented on the robot to enable a master-slave manipulation system. We demonstrate the efficacy of this approach with a human-robot...
This paper discusses the practical implementation of a flatness based control for a flexible joint robot arm. Using differential flatness theory, reference trajectories are generated for a flexible joint robot and then a tracking controller is implemented. The vibrations experienced by the robot arm are sufficiently damped and nonminimum phase behaviour is eliminated. The control shows fast transcient...
In this paper, a coordinated motion of two types of heterogeneous robots, namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. The UGV plays the role of a leader for the UAV. While UGV tracks a predefined geometric path, the UAV is supposed to track the UGV. A robust controller based on integral sliding mode is designed to solve the tracking problem in the presence...
In this paper, we present an integrated approach for path planning and control for autonomous mobile robots. Typically, path planners pass on the trajectory coordinates to a motion controller that controls steering or curvature of the autonomous robot. However, these approaches ignores the smoothness of trajectory or staying on the path at different times. Our proposed system is a novel approach,...
This paper presents a position tracking system for real-time position estimation of a passive rehabilitation robot. The table-top robot shall be used for upper limb rehabilitation by stroke patients. Accurate estimates of the robot's position are determined by fusing data from two sensors: a laser optical sensor and a webcam. The laser optical sensor is mounted underneath the robot and tracks the...
A fine velocity planning model can make robots move efficiently and stably. The smoothness of the velocity, the acceleration and the jerk can protect the robots arm from moving problems, such as motion vibration and transient overshoot. In order to have a fine movement for multiple degrees of freedom (DOF) robots, people generally optimize the track on the connection point of two tracks. If the tracks...
We consider the problem of a human-following robot in which a human is equipped with a low-fidelity odometry sensor and a robot follows the human leader — often lagging well behind and out of visual contact with the human. The challenge is for the robot to determine the path taken by the human, despite the relatively noisy odometry data available. Such a system is useful in a “pack mule” application,...
This paper presents a comparative study of two control approaches; fuzzy proportional derivative control (PD) and sliding mode control (SMC) for a two degree of freedom (2-DOF) robot manipulator. It presents the implementation of both model based and model free based control. SimMechanics is used for modelling of the robot which requires a little knowledge regarding the dynamics of the system. A robust...
This paper presents experimental results of a novel trajectory tracking control design proposed in [21] for nonholonomic mobile robots. The mobile robots considered in this work are driven by low-level velocities control systems that possess non-trivial dynamical effects. The key trust of the tracking control design is that it can be implemented for the robots to track time-parameterized trajectories...
This paper reports an evaluation of contact-less hand tracking sensors for the use of tele-operation, in particular for surgical robotics applications. Two hand tracking systems are investigated: 3Gear Systems interface with the Microsoft KinectTM sensor, and the Leap Motion sensor system. This paper reports an experimental evaluation and comparison of the two systems range, static positioning error,...
In this paper we propose a framework for trajectory planning and control of tracked vehicles for rescue environments, based on Augmented Reality (AR). The framework provides the human operator with an AR-based interface that facilitates both 3D path planning and obstacle negotiation. The interface converts the 3D movements of a marker pen, handheld by the operator, into trajectories feasible for the...
We address the problem of robustly tracking a desired workspace trajectory with a humanoid robot. The proposed solution is based on the suitable definition of a controlled output, which represents an averaged motion of the torso after cancellation of the sway oscillation. In particular, two different techniques are presented for extracting the averaged motion. For control design purposes, a unicycle-like...
This paper proposes a novel method of integrating planning with Monocular Simultaneous Localization and Mapping (SLAM) systems. Monocular SLAM, typically referred to as VSLAM systems in literature consists of recovering trajectory estimates of the camera and stationary world features from a single moving camera. Such VSLAM systems are significantly more difficult than SLAM performed with depth sensors,...
The area of robotic surgical systems has to deal with several important safety aspects to ensure that the patient and the Operating Room staff are safe. A robotic surgical system has to fulfill specific safety requirements and to ensure that the system reacts like its specification. To this end, a verification process is necessary. In this paper an architecture for robotic surgery is modeled using...
The presented spatial programming system provides an assistance system for online programming of industrial robots. A handheld device and a motion tracking system establish the basis for a modular 3D programming approach corresponding to different phases of robot programming: definition, evaluation and adaption. Static and dynamic gestures enable the program definition of poses, trajectories and tasks...
In this paper a method for distributed reciprocal collision avoidance among multiple non-holonomic robots with bike kinematics is presented. The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collision avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like...
Nowadays the capabilities of autonomous robots have increased rapidly. However there are situations where one robot is not sufficient. In this paper we will introduce a completely distributed algorithm for tracing and surrounding moving objects or targets using homogenous, medium scaled swarm robots based on local sensing. Our new approach is based on the already known concept of basis behaviors as...
Motion planning for a novel nonholonomic rolling robot-RollBallT is developed. RollBallT is a new designed rolling robot with three sliders, which adopt reciprocating locomotion along three orthogonal and concurrent sliding tracks. Definitions of Balancing Retraction and Balancing Extension are provided. A theorem on slow moving sliders without change attitude are proved and used in motion control...
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