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The article provides an original method for obtaining kinematic models of solar panel deployment mechanisms, which is based on the principle of formalised description of mechanisms kinematics. The method is aimed at automation of the derivation of solar panel deployment kinematic equations both in numerical and analytical forms. This method can be successfully applied to various types of deployable...
This paper presents an effective path decision method to find a two-dimension path that is time optimal and obstacle free using parametrization in Complex domain. Such a path is used only for moving forward vehicles with constant velocity and non-holonomic kinematic constraints such as UAV (Unmanned Aerial Vehicles). Each start and goal point of a vehicle in a planar domain with randomly selected...
This paper presents a novel approach to generate online jerk-limited trajectories for multi-DOF robotic systems. Finite Impulse Response filters are used to efficiently turn low computational cost acceleration-limited profiles into jerk-limited profiles. Starting from a new setpoint, e.g. an event given by external sensors, and an arbitrary state of motion, i.e. with non-zero initial velocity and...
This paper provides motivation for the use of Kane's formulation of the equations of motion for systems with configuration coordinates that are subject to Pfaffian constraints. It is shown that the matrix-vector form of Kane's formulation, as outlined in this paper, results in an equation structure that is ideally suited to the backstepping approach to control system design that is described by Fierro...
This paper presents a study of distributed cooperative formation control of a generic multiple agent robots which is applicable for underwater system application such as multiple-autonomous surface vehicles (ASV). The control objective of the group of ASV agent is to maintain a certain formation in a predefined geometric pattern, notably a symmetric formation shape. In addition, the centroid of this...
This paper presents a heuristic solution for the inverse kinematics problem. The heuristic consists on combining the distance between the actual position and the desired position of the gripper with the direction of the best manipulability of the robot. Theoretical results are validated by digital simulations resolute.
This paper presents a novel concept for wearable support systems based on the approach of the Human Hybrid Robot (HHR), which can be adapted easily to the user and the activity. The concept focuses on modularity and makes intensive use of new manufacturing technologies like 3D-printing as well as flexible kinematics and textile components, in order to fit the system to different individuals and tasks...
This paper presents the design of a novel anthropomorphic robotic neck. It mimics the range of movements found in the human neck, actuated by pneumatic artificial muscles. The proposed humanoid neck simulates the anatomical functionality and structure of a human neck. Specifications are made according to biological, anatomical and behavioural data. The preliminary results show that the proposed humanoid...
Learning of robot kinematic and dynamic models from data has attracted much interest recently as an alternative to manually defined models. However, the amount of data required to learn these models becomes large when the number of degrees of freedom increases and collecting it can be a time-intensive process. We employ transfer learning techniques in order to speed up learning of robot models, by...
The Inverse Kinematics (IK) algorithms implemented in the open-source Orocos Kinematics and Dynamics Library (KDL) are arguably the most widely-used generic IK solvers worldwide. However, KDL's only joint-limit-constrained IK implementation, a pseudoinverse Jacobian IK solver, repeatedly exhibits false-negative failures on various humanoid platforms. In order to find a better IK solver for generic...
This paper presents Natural Gradient Control (NGC), a control algorithm that efficiently estimates and applies the natural gradient for high-degree of freedom robotic control. In contrast to the standard task Jacobian, the natural gradient follows the direction of steepest descent with respect to a parameterized model with extra degrees of freedom injected. This procedure enables NGC to maneuver smoothly...
Superior performance of nonlinear finite-time P-PI control has been demonstrated in end-effector position control of robot manipulator; however the finite-time P-PI end-effector orientation control is not discussed. In this paper, we propose a finite-time P-PI controller for end-effector orientation control of robot manipulators. By comparing the proposed controller with exponentially stabilizing...
Proportional Integral Derivative (PID) controller is a conventional controller, which is widely used in industrial control system. In this paper, a PID control system is used for path tracking of an autonomous surface vehicle (ASV). The PID controller is selected because it is easy to implement as an embedded controller and practically easy to understand compared to other control methods. However,...
The position and differential kinematics, for a haptic device, represent the mathematical model that describes the behavior and evolution of its spatial geometry. Contributions in a Human-Robot Physical Interaction system, are: i) operational cartesian motion planning and verification of performance on tasks of passive haptic guidance, ii) torque / force relationship through the analytical Jacobian...
A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by...
In this paper we consider the application problem of a redundant cable-driven parallel robot, tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using a recently proposed gains adaptation law [1], thus not requiring the knowledge of the upper bound of the lumped uncertainties. The controller is extended by a feedforward dynamic...
In this paper we shall present how we created the serial driver chip which can control the Lynxmotion AL5 type robotic arm. The hardest part was that we had to implement in FPGA the serial driver, but not the usual driver, which can communicate only an 8 bit word with the PC, but to send a whole ASCII string to another device. Most serial drivers on FPGA can respond with a certain character after...
Homotopy Continuation is known as a powerful systematic technique for solving kinematic equations of parallel or serial robots. This paper presents a new development of homotopy continuation which can provide more reliable solutions. The proposed approach, unlike former ones, finds the solutions of equations by direct investigation of collisions between continuation paths, which are known as singularity...
The paper propose a methodology using the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) to solve inverse kinematics problem of Delta parallel robot. A five layer neural network of ANFIS is used to adjust input and output parameters of membership function in a fuzzy logic controller. The hybrid algorithm is used for training this network. In this algorithm, the least square estimation method...
A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by...
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