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This paper presents an optimal trajectory planning approach for mobile robots using the multi-objective optimization algorithm NSGA-II. The trajectory candidates are modeled using two functions: a b-spline to describe the path in an environment with obstacles and a cubic spline to set up the motion along this path. The kinematic and dynamic constraints inherent to the robot's behavior are taken into...
The problem of concurrent design of a mechanism can be defined as finding optimal structural parameters and control parameters for a given objective function during the same optimization process. In this paper, a general concurrent optimization methodology for kinematically complex mechanisms is tested using a Delta manipulator. This methodology intends to optimize any structure and control design,...
The visually servoed trajectory tracking of quadrotors has attracted many academic researchers over the past decade, and numerous controllers are proposed for this challenging problem. The trajectory tracking controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are implemented assuming that the position of the quadrotor...
The recent emergence of unmanned aerial vehicles asked for both well-performing auto-flight systems and fly-by-wire architectures. Towards this end, the trajectory control module of an integrated auto-flight control system is introduced in this paper, which utilizes nonlinear second-order error dynamics of the position error and uses nonlinear dynamic inversion as a control methodology. Flight test...
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design...
In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. The approach uses clothoids to deal with the problem of curvature steps during the transition phase between straight line and arc flight. The algorithm is designed in interaction with a trajectory controller for 2nd order error dynamics, which hence requires more trajectory information...
The two robots cooperation system has been widely used across the robotic research field with many effective cooperation control strategies. In this paper, a novel two parallel robots cooperation system which can handle objects with large volume and heavy weight is developed by optimizing the traditional Cartesian parallel mechanism (CPM). Forward and inverse kinematics of the improved CPM-based parallel...
The temporomandibular joint (TMJ) is a complex bilateral articulation, and its movements are a combination of hinge movement and gliding movement guided by its articular surfaces. A masticatory robot with higher kinematic pairs (HKPs) simulating TMJ behavior is introduced. Kinematic equations of the HKPs are derived based on three-dimensional kinematics of rigid bodies and differential geometry. Position,...
In order to improve the precision and safety of workpiece quality detection, this paper takes six degrees of freedom of industrial robots as the research object. We analyze the structure and parameters of each component, and study the trajectory planning method of industrial robot. Firstly, we use D-H parameter method to establish the link coordinate of industrial robot, and analyze the kinematics...
The Gough-Stewart platform with six degrees of freedom is widely used in different mechatronic devices, in particular in the controlling instruments, the inspection stands etc. The studied parallel mechanism has some advantages namely increased rigidity and compactness and also some disadvantages like possible loss of control. In this paper, the method of solving inverse displacement problem is offered...
Exact estimation of link length and joint position of human body is an important application in biomechanics, motion synthesis and analysis. Since human joint angles are not measureable, the starting point in studying this application is dealing with the identification of a robot based on task space measurement. The purpose of this study is to present a method to estimate robot joint parameters without...
The focus of the present research is on the kinematic features describing performance of the tested individual during the digital Lora's alternating series tests. First goal is to demonstrate that the features computed for the Parkinson Disease patients differ from those of healthy individuals. The secondary goal is to find the subset of features allowing to distinguish disorders on the level of motion...
The captured motion data can be utilized to produce kinds of animation for different characters. We propose a method to represent simulated motion, especially exaggerative motion by filtering the joint trajectories. The motion style is changed by shrinking or squashing the corresponding 3D trajectories. The similar but exaggerative motion with articulated constraints is generated by the inverse kinematic...
Although many tasks intrinsically involve multiple modalities, often only data from a single modality are used to improve complex robots acquisition of new skills. We present a method to equip robots with multimodal learning skills to achieve multimodal imitation on-the-fly on multiple concurrent task spaces, including vision, touch and proprioception, only using self-learned multimodal sensorimotor...
In this paper, an impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing the end-effector interaction forces with the environment. The proposed control has a multi-level architecture, in detail the outer loop is composed by a trajectory generator and an impedance filter that modifies the trajectory to achieve a complaint behaviour in the end-effector space;...
This paper presents a novel Local-Path Planning approach for an independent four-wheel steering (I4WS) mobile base. The approach smoothly drives and rotates the platform while still following a given path and avoiding obstacles. I4WS vehicles are omnidirectional vehicles, similar to shopping carts, if one neglects the time needed to steer the wheels. However, due to the danger of mechanical parts...
Two robust kinematic controllers for position trajectory tracking of a perturbed wheeled mobile robot are presented. We address a final objective of fixed-time pose-regulation, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To achieve that, we propose the robust tracking of adequate trajectories for position, which drives...
Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing alternative to more conventional devices, but present considerable challenges in sensing and actuation, making them difficult to apply to more complex manipulation...
This paper addresses the problem of cooperative aerial transportation of an object using a team of quadrotors. The approach presented to solve this problem accounts for the full dynamics of the system and it is inspired by the literature on reconfigurable cable-driven parallel robots (RCDPR). Using the modelling convention of RCDPR it is derived a direct relation between the motion of the quadrotors...
This paper presents a planning algorithm for a 2-DOF robotic arm to bat a flying 2D object to a targeted location. Impact dynamics are combined with trajectory kinematics and manipulator dynamics to compute the evolving set of states (poses and velocities) of the arm able to achieve the task as the object is flying. Planning is conducted under the arm's dynamic and kinematic constraints. At the time...
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