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This paper presents a kinematic model based path planning algorithm for autonomous vehicle. Polynomial parameterization is used to generate the trajectory. All constraints including kinematic constraints and obstacles are represented by polynomial parameters. Using this parameterization method the velocity can be planned simultaneously. Road information is taken into account in the object function...
The paper presents a derivation of a cascaded control system for autonomous vehicles moving in a 3D space in the task of tracking a time-parametrized desired trajectory. For a purpose of an outer-loop (kinematic-level) control design one proposes to utilize the Vector Field Orientation (VFO) methodology which has been successfully applied and extensively tested so far in the area of wheeled mobile...
For the omnidirectional lower-limb rehabilitation robot, a controller by using the acceleration and velocity information effectively of the target trajectory is proposed. The improved kinematics and dynamics model of the omnidirectional lower-limb rehabilitation robot with regard for centre-of-gravity shift are presented firstly. By including the acceleration and velocity information, the speed of...
Accurately and reliably tracking the 3D position and orientation of individuals in large flying swarms is valuable not only for scientific researches but also practical applications. However, large quantity, frequent occlusions, similar appearance, tiny body size and abrupt motion make it remain an open problem. The 3D flying swarm tracking method proposed in this paper tracks both position and orientation...
This paper addresses robust leader-follower formation control problem with prescribed performance and collision avoidance for a group of fully actuated unmanned surface vehicles (USVs). The dynamic surface control (DSC) technique is employed to introduce a first-order low-pass filter in the kinematic design such that the utilization on the leader vehicle's acceleration is avoided in the kinetics control...
The mature analysis formula has been well used in the robotic forward kinematics for redundant manipulators, but the inverse-kinematics (IK) question is complex. Many methods have been adopted to resolve the complicated inverse-kinematics problem; for example, the previous pseudo-inverse based (PIB) method that have to calculate the computationally expensive inverse (specifically, pseudo-inverse)...
This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller...
The aim of the study is to design a novel protocol to characterize the ankle movements during dorsal and plantar flexion reaching tasks using the pediAnklebot. Five healthy children were instructed to control a pointer and hit targets appearing on the monitor, by moving their ankle alternatively up and down. The protocol consisted of 60 targets, 30 up and 30 down, reachable via dorsiflexion and plantarflexion...
In this paper, we presented a low cost assistive device of an exoskeleton robot, to assist the lower limb muscle by following the gait pattern generation. The paper presents the technique how to duplicate the natural gait motion pattern based robotic platform from the neutral person motion as data pattern generation, to control the positioning of foot trajectory by following the data pattern generation...
We shall study non-holonomic robotic systems represented by either a driftless or a control affine control system with outputs. Two types of singularities are considered: the posture singularities around which the growth vector of the system's distribution is non-constant, and the configuration singularities at which the system's Jacobian is not surjective, related with the singular optimal controls...
This paper is focused on motion control of a nonholonomic car-like robot. The main idea of the proposed control method is based on an approximate decoupling of phase-constrained kinematics in order to imitate an omnidirectional robot. In order to facilitate the feedback design, the original kinematics is simplified and represented by a nilpotent homogeneous locally equivalent control system. Next,...
This paper addresses the optimal kinematic control problem of the mobile manipulators. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. These controllers use a new non-singular Terminal Sliding Mode (TSM) manifold, as being a non-linear integral mapping of the second order with respect to the task space tracking error...
The problem of dexterous robotic manipulation of rigid objects by means of a cooperative robotic system is addressed in this paper. It is assumed that the robots can only push the object (unilateral constraints). In order to solve the aforementioned control problem, a centralized control algorithm with bounded torque inputs based on the Orthogonalization Principle and second order sliding mode control...
In this study, the motion of an inverted pendulum mobile platform is extended to omnidirectional motion. omnidirectional motion is implemented by a drive unit constructed from paired mecanum wheels. The mechanism of the omnidirectional drive unit replaces the two parallel wheels of the inverted pendulum mobile platform and extends its motion to an omnidirectional motion. The mechanism of the omnidirectional...
Crustal movement is a key factor affecting water cycle and related land surface processes. In this paper, the principle of a class of crustal movement simulation system (CMSS) is introduced. The CMSS proposed in this study is composed of twelve sets of four-legged parallel manipulator with three degrees of freedom. The structure of the parallel manipulator with actuation redundancy is analyzed. In...
Researches on unmanned aerial vehicle (UAV) formation control are attracting more and more researchers' attention. Obstacle avoidance is a key problem of UAV formation. In this paper, an improved artificial potential field (APF) method is proposed for solving the problem of UAV formation control with obstacle avoidance in a complex environment. Point-mass models with kinematic constraints have been...
In this paper, the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle (UUV) control. Firstly, the kinematic tracking controller based on model predictive control (MPC) is applied to reach the tracking control in a kinematic way. Compared with conventional backstepping control, MPC can solve the speed jump control problem very...
This paper focuses on solving the Unmanned Surface Vehicle autonomous dynamic collision avoidance problem. Firstly, a kinematic and dynamics model of three degree of freedom for USV is established, researches USV's treat method about the data of obstacles, and structures whole environment information to make USV avoid obstacles. Secondly, according to obstacles' position data, Elman predictive model...
This paper presents a cascaded methodology for enhancing the path accuracy of industrial robots by using advanced control schemes. It includes kinematic calibration as well as dynamic modeling and identification. This is followed by a centralized model-based compensation of robot dynamics. The implemented feed-forward torque control shows the expected improvements of control accuracy. However, external...
Trajectory planning has been a common and important topic in robotics since its generation. As a powerful tool, it can enhance the performance of the robots in manufacturing industry. In this paper, a trajectory planning method based on unit quaternion was proposed. Unit quaternions were used to represent the orientations of the target as there are no more singularities. The trajectory was planning...
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