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For the zero-gravity simulation of space manipulator, a position servo system is designed in this paper. The position servo system is composed of five servo platforms, which are used to track the joints of space manipulator, to ensure the slings keep vertical when the space manipulator is moving. Each servo platform consists of two CCD cameras, two servo motors, two orthogonal linear motion systems...
This paper introduces a robotic system for electric energy meter detection, which is composed of AGV, RGV, 6-DOF manipulator and vision positioning. AGV is used to transport the electric energy meter from warehouse to transfer station for detection and send them back after detection. The manipulator is installed on a RGV and used to pick the electric energy meter to the detection platform with the...
This article describes a vision-based manipulation process for real-time moving objects tracking and grasping, aiming at industrial manufacturing and assembling applications. The adoption of computer vision techniques for object recognition is implemented by means of a stereoscopic system using color based methods under OpenCV libraries. The visual software is directly coupled with the control software...
This paper presents a new set of approaches for teleoperation of remotely operated vehicles (ROVs), or autonomous underwater vehicles (AUVs) with on-board cameras. We address the control allocation problem for underwater vehicles, i.e., how to best distribute the control forces so that the robot behaves as intuitively as possible based on the operator's commands. This calls for intelligent control...
Upper-body disabled people can benefit from the use of robot-arms to perform every day tasks. However, the adoption of this kind of technology has been limited by the complexity of robot manipulation tasks and the difficulty in controlling a multiple-DOF arm using a joystick or a similar device. Motivated by this need, we present an assistive vision-based interface for robot manipulation. Our proposal...
In this paper we present a novel co-operative control policy purely for the transportation of large objects in underwater environments using two free floating vehicles, each one endowed with a 7 d.o.f redundant manipulator. Due to the presence of harsh conditions in underwater scenarios, it is extremely important to realize algorithms that depend on a minimal amount of explicit information exchanged...
This paper proposes a new visual controller to endow flying manipulators with the capability of cooperatively and automatically positioning an assembly part on a visual target. We consider two VToL UAVs each equipped with a robot manipulator and a video camera. The two manipulators are rigidly connected to an assembly part, consisting of bar in this case study, that needs to be automatically placed...
We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interface while also fully exploiting whole-body dexterity; 2) Slave robot autonomous control to allow the mobile...
The paper describes a novel cooperative control policy for the transportation of large objects in underwater environments using two UVMS (Underwater Vehicle Manipulator Systems). Due to the low bandwidth available in underwater scenarios, the main feature of the paper lies in the fact that the cooperative transportation of the commonly grasped object is carried out successfully by just exchanging...
Underwater manipulators are traditionally controlled by skilled operators to achieve tasks, e.g. underwater survey, inspection, construction and repair operations. However, these systems need much human resources and huge control systems. Thereby, the automation of control of underwater manipulators are required to reduce the work load of operators. In order to satisfy the requirements, this paper...
In this work, we propose a constraint-based algorithm for combined trajectory generation and kinematic control for robotic manipulators. The main feature of the algorithm is to ease robot programming, shifting from an imperative paradigm, in which task constraints are semantically and uniquely mapped into a suitable end-effector velocity profile, towards a declarative motion programming, where such...
In a teleoperated system, misalignment between the master and slave manipulators can result from clutching, errors in the kinematic model, and/or sensor errors. This study examines the effects of type and magnitude of misalignment on the performance of the teleoperator. We first characterized the magnitude and direction of orientation misalignment created when clutching and unclutching during use...
This paper deals with the stabilizing control of the double spherical inverted pendulum using a planer manipulator and a vision sensor. It has some interesting features as a nonlinear system with many degrees of freedom. The authors focus especially on its systematic modeling, nonlinear controller design based on the linearization method, and the visual measurement. Experiments have been successfully...
This paper describes an unifying control framework which has been proposed and successfully employed within the recently concluded TRIDENT EU FP7 project. It further describes the extension of this proposed framework to dual arm free floating control case (single underwater vehicle with two 7 d.o.f redundant manipulators), and even the more challenging cooperative control of two I-AUVs for the transportation...
In this paper, a repetitive assembling task is considered for industrial manipulator, where vision-based precise trajectory tracking is necessary. Conventional visual servoing methods suffer from their poor dynamic performance, while the proposed open-plus-closed loop framework solved this problem by iterative learning. System error is defined by the directly measurable homography matrix and feature...
SPL (Single Port Laparoscopy) might generate better surgical outcomes than multi-port laparoscopy. Hence it draws continuous attentions in the past several years. Due to its operative difficulties, several robotic systems were constructed to help surgeons with the surgical manipulation tasks. The SURS (SJTU Unfoldable Robotic System) for SPL is then proposed, aiming at introducing several improvements...
This paper presents a novel control architecture for kinematic control of the base and the arm of a vehicle-manipulator system during complex mobile manipulation tasks. Particularly, we address kinematic control of robots operating in the presence of constraints such as plane or entry hole constraints imposed on a point on the manipulator arm and an additional focal point constraint imposed on the...
This paper proposed a visual control method with a relative position measurement model of stereo vision fixed in the work space for the approach movements of 7-DOF redundant manipulator. The relative position between the end-effectors' endpoint and object will be solved in real-time by the measurement model of stereo vision, then using position-based visual servo method, the endpoint position will...
A high-frame-rate (HFR) structured light vision is developed for observing moving three-dimensional (3-D) scenes; it is mountable on the end of a robot manipulator for 3-D shape inspection. Our system can simultaneously obtain depth images of 512×512 pixels at 500 fps by implementing a motion-compensated coded structured light method on an HFR camera-projector platform; the 3-D computation is accelerated...
Object tracking and manipulation is an important process for many applications in robotics and computer vision. A novel 3D pose estimation of objects using reflectionally symmetry formulated in Conformai Geometric Algebra (CGA) is proposed in this work. The synthesis of the kinematics model for robots and a sliding mode controller using the CGA approach is described. Real time implementation results...
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