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Missile transport process should ensure the safety of people and equipment, etc. In view of the traditional missile loader using artificial manipulation of hydraulic manipulator to achieve the missile capture which caused the problem with lower efficiency and big risk, the manipulator positioning technology based on visual guidance was been discussed out. Firstly, two group of binocular camera with...
This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given...
In this paper we designed an intelligent gripper module with vision system for robot manipulators. The vision system in the gripper module used only a single camera, as in the form of eye-in-hand architecture, for identifying a target object in space for the robot manipulator to grasp. SURF algorithm and back projection method of hue-saturation histogram model are applied for correctly identifying...
The mechanical arm (manipulator) of a robot can be controlled using image processing techniques. The system detects user motion and colour in real time. The main goal is to gather user motions and colour from a video stream captured by a webcam facing the user. To track the motion of the user's hand; it needs to select the Image feature that is both robust and the one which is ideal for real time...
A remotely operated vehicle (ROV) carrying an underwater manipulator plays an important role in underwater operations. In this paper, we develop a virtual platform of a ROV to animate operation tasks under the sea. The ROV model refers to the structure of a typical ROV which performs operation tasks below the ocean's surface 1000 meters and the manipulator model refers to a master-slave servo hydraulic...
Robotics is one of the most growing fields of science. The number and types of tasks that are being performed by robotics is multiplying rapidly. In the field of Robotics, Robotic arms have gained a lot of importance. These are used to perform tasks which humans cannot or will not. They are extremely efficient and accurate. The current mode of control of the arm includes External Actuators, Joysticks...
The paper considers designing two mobile robots equipped with omni-wheels and autonomous control systems. One of the robots has two different control modes: either with camera-based tracking system or via operator's remote control. When an operator controls the robot's motion, the human machine interface provides forwarding camera images to the operator control station. The other robot is an electromechanical...
Robot technologies are accelerating rapidly. Today many robots are inspired by the shape and function of the human body. One of the popular system is the vision based robot control. By mimicking human eyes, a cameras dictates the movements of the robots. Considered as an expensive solution, the emerging smartphone technologies make a vision based system an accessible and cheap solution for mimicking...
This paper presents a hybrid motion control on a robot arm and hand system, for grasping and manipulating, by integration of multiple sensors such as stereo camera vision, force sensors and surface electromyography(sEMG), to achieve delicate manipulation. The optimization of multi-fingered robotic dexterous grasping-force can be reformulated as an objective function minimization problem in the presence...
As one of the most successful game kit, Kinect has been used widely outside gaming. Kinect provides easy and cheap solution for stereo camera. Its openness in software architecture unlocks many new applications. This paper presents a platform that can be used to connect Kinect, arduino, MATLAB and a 4-DOF (RRRR 3D) manipulator. The manipulator is designed as a Wayang (Javanese puppet) character that...
The main objective is to design a proportional controller of a robot manipulator using the fuzzy cerebellar model articulation controller based on Takagi -- Sugeno (T -- S) framework with a compensator. The controller and compensator apply in visual servoing, including system identification of image and kinematic Jacobians. The proposed approach is basically as a function of the visual error and extent...
Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. We have developed an autonomous camera control system to supply appropriate visual information. In order to inform operators the potential data in the views, we introduced several augmented...
In this system paper we present a novel approach for autonomous, mobile manipulation for agricultural robots. Our target application is mechanical weed control which for example is needed in organic farming. Today, this task is often performed by field workers, whose availability is declining and the quality of their work differs greatly. In addition, manual weeding is a very tedious task with adverse...
The paper presents a laboratory robot arm with projection-based safe collision avoidance system which is intended for physical human-robot interaction. This system with new GUI provides also additional functions like movements and individual motors parameters display, so that the man is also informed about the state and activities of the robot arm. This system was designed for teaching, so we have...
This paper describes a whole new framework to quickly develop dynamic visual servoing systems embedded in an FPGA. Parallel design of the algorithms increases the precision of this kind of controllers, whereas minimizes the response time. Embedding dynamic visual servoing algorithms converts these systems into real-time systems. Additionally, an optimal control framework to dynamically visual control...
Capable mobile manipulators require sophisticated sensing and environment perception. An important task is the precise localization of objects to be handled. In order to be able to deal with a wide variety of applications, sensor systems need to be able to work with glossy, shiny or transparent objects. Here we present an approach to that problem based on analyzing specular reflections using a custom...
This paper presents the development of an endoscope manipulator with passive and active structures for functional endoscopic sinus surgery (FESS). The 5-DoF passive structure has three translations and two rotations (T3R2) that allows the surgeon to manually place the endoscope near to the entry point during. The 4-DoF motorized structure (T2R2) actively controls the endoscope's position based on...
With the advancement of minimally invasive surgery, there has been increasing interest from both industry and academia in developing flexible serpentine manipulators for surgical robotic systems. Due to internal friction and external disturbance when interacting with complex environment, position and shape of the flexile manipulator cannot be estimated solely by kinematic models. Hence, shape tracking...
In order to improve robotic harvesting for fresh tomato and reduce the amount of human labor, this paper designed a tomato intelligent picking robot. The picking robot included: the vision positioning unit, the picking gripper, the control system and carrying platform. Based on the working principle of each component, the working process of picking robot was revised. Based on HIS color model for image...
Humanoid robot has become popular research platforms in robotics and artificial intelligence. Humanoid robot can perform complex motions, including the balancing, walking, and kicking skills required in the RoboCup robot soccer competition. The humanoid robot from the Electronic Engineering Polytechnic Institute of Surabaya (EEPIS) research center named FLoW. This paper discusses about the FLoW head...
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