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A sensor system that measures the 3D data of the object after projecting the cone shaped beam to the object of measurement to create a round mark and receiving this image through camera, was studied. This sensor system, when attached to a robot, will enable diverse application works, and in this study, such was proved by displaying the tracking work for the defect fabricated randomly.
This paper describes the longitudinal dynamics modeling of the RIOL robot. This robot is designed to move hanging on a suspended cable in applications such as the inspection of electric power lines and aerial monitoring/surveillance. The main characteristics of the robot are described along with simulation results for full and reduced models of the longitudinal dynamics and respective comparison using...
This paper proposes a stable tracking control law for mobile platform and welding torch of Autonomous Welding Mobile Robot used in shipbuilding and large spherical tank welding. Stability of the law is proved through the use of a Liapunov function. Not only the moving and rotating velocity of the robot is controlled, but also the moving velocity of the cross slider is controlled. In the simulation,...
Concrete pipes are used in a variety of areas for conducting media underground (e.g. wastewater, cooling water, etc.) or for transportation purposes. Regular cleaning and inspection is required to ensure the static integrity of the pipe and to insure against the problems associated with failure of the pipe. In this paper, the SVM-RS system for cleaning and inspecting large concrete pipes will be presented...
This paper is devoted to study the swimming micro robot in liquid on the basis of simulation a wild aquatic animals movement, mainly based on the fish propulsion mechanism. In the paper the theoretical basis and propelling principle are introduced. With the analyzing of kinematics and dynamics of the swimming micro robot, the theoretical model is built up. The resistance during the locomotion of swimming...
This paper presents a method to model and reproduce cyclic trajectories captured from human demonstrations. Heuristic algorithms are used to determine the general type of pattern, its parameters, and its kinematic profile. The pattern is described independently of the shape of the surface on which it is demonstrated. Key pattern points are identified based on changes in direction and velocity, and...
This paper presents a numerical model of a morphing wing supporting the development of a biologically inspired vehicle capable of aerial and aquatic of locomotion. The model draws inspiration from the seabird Uria aalge, the common guillemot. It is implemented within a parametric study associated with aerial and aquatic performance, specifically aiming at minimizing energy of locomotion. The implications...
Research so far on adaptive bilateral control of master-slave teleoperation systems considers dynamic uncertainties but stops short of considering kinematic uncertainties. However, when picking up objects of unknown lengths, orientations and gripping points, the overall kinematics of a robot in the teleoperation system becomes uncertain. Therefore, new controllers are required that can guarantee the...
This paper introduces a study aimed to help quantify the benefits of limited-performance force-feedback user input devices for space telemanipulation with a dexterous robotic arm. A teleoperated robotic hand has been developed for the European Space Agency by the German Aerospace Center (DLR) for a lunar rover prototype. Studies carried out on this telerobotic system investigated several criteria...
Micro Soccer Robot is a two-wheeled robot, and it has been the focus in the field of robotics research for its structural and action characteristic. This paper describes motion control system of soccer robot, proposes a kinematics model and sets the model according to moving environment of soccer robot. In decision-making system, action design tends to calculate speeds of robot's left and right wheels...
Snakes are very unique animals that have distinguished motor function adaptable to the most diverse environments in terrestrial animals regardless of their simple cord-shaped body. Revealing the mechanism underlying this distinct locomotion pattern, which is fundamentally different from walking, is significant not only in biological field but also for applications in engineering field. However, it...
We propose a scheme to deal simultaneously with local motion planning and dynamic control of redundant cooperative robots subject to holonomic, posture and loop-closure constraints. In contrast to previous contributions, an iterative method, that glue together the problem of kinematic motion planning with dynamic control, generates the sequence of feasible collision-free motions by combining in a...
The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscope possibilities and workspace, we are currently developing a robotized system. The prototype...
Skill or motion transfer from someone to other persons is always required for dance teaching, rehabilitation, sports and so on. For teaching or transfer of motion, a dance notation and display of sequence of motion are often used effectively. However, these contain only the instantaneous postures of motion or professional subjective sense, it is not easy for beginners to understand the dynamical knack...
A snake-like robot has an advantage in moving into a narrow space. Particularly “pedal wave”, which is one of its locomotion styles, is suitable for entering a thin path. However, pedal wave have been used only for going straight in most of the prior studies. In particular horizontal steering of pedal wave by a real robot has not been investigated sufficiently. Therefore in this paper we studied a...
The authors present a new algorithm to compute the forward Dynamics of n degrees of freedom serial kinematic chains, which is faster than the classical approaches. This algorithm was created rewriting the Lagrange equation in terms of lines and points in the framework of conformal geometric algebra, which allows having a new equation to compute the dynamics with less number of products. This algorithm...
A novel robot mechanism-tetrahedral rolling robot is introduced in the paper. The robot comprises of six extension struts and four node flats. When the COG of tetrahedron exceeds the stability region, the robot will roll. The structure of the tetrahedral rolling robot is described. Designing method of the robot is given, and it is proved correct and feasible through experiment. Kinematic model in...
This paper presents an efficient kinematical solution to a multi-robot system with serial and parallel mechanisms. JL-I is a reconfigurable robot featuring active spherical joints formed by serial and parallel mechanisms endowing the robotic system with the ability of changing shapes in three dimensions. The active joint here can combine the advantages of the high rigidity of a parallel mechanism...
This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
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