This paper describes an imaging system that has been designed to facilitate robotic tasks of motion. The system consists of a number of cameras in a network arranged so that they sample different parts of the visual s...
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This paper describes an imaging system that has been designed to facilitate robotic tasks of motion. The system consists of a number of cameras in a network arranged so that they sample different parts of the visual sphere. This geometric configuration has provable advantages compared to small field of view cameras for the estimation of the system's own motion and consequently the estimation of shape models from the individual cameras. The reason is that inherent ambiguities of confusion between translation and rotation disappear. Pairs of cameras may also be arranged in multiple stereo configurations which provide additional advantages for segmentation. Algorithms for the calibration of the system and the 3D motion estimation are provided.
This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in [1], the explicit version of the sequential inverse kinemat...
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This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in [1], the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.
Thermal bimorphs are a popular actuation technology in MEMS (Micro-Electro-Mechanical Systems). Their operating principle is based on differential thermal expansion induced by Joule heating. Thermal bimorphs, and othe...
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Thermal bimorphs are a popular actuation technology in MEMS (Micro-Electro-Mechanical Systems). Their operating principle is based on differential thermal expansion induced by Joule heating. Thermal bimorphs, and other thermal flexture actuators have been used in many applications, from micro-grippers, to micro-optical mirrors. In most cases open-loop control is used due to difficulties in fabricating positioning sensors together with actuator. In this paper we present several methods for extracting reduced-order thermal flexture actuator models based on experimental data, physical principles and FEA simulation. We then use the models to generate optimal driving signals using input shaping techniques. Both simulation and experimental results are included to illustrate the efficacy of our approach. This framework can also be applied to other types of MEMS actuators, including electrostatic comb drives.
This paper presents design of a 6 DOF haptic master which is based on a combination of a planar 3 DOF parallel mechanism and a spatial 3 DOF parallel mechanism. Since low inertia is vital to backdrivability and transp...
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This paper presents design of a 6 DOF haptic master which is based on a combination of a planar 3 DOF parallel mechanism and a spatial 3 DOF parallel mechanism. Since low inertia is vital to backdrivability and transparency of the haptic device, all actuators are placed on the base and thus some forces for haptic feedback are transmitted by tendon-driven mechanism. This device was intended to teleoperate a mobile manipulator, which requires planar 3 DOF motion for navigation of the vehicle and full 6 DOF motion for manipulation. Therefore, the proposed device is designed to have two modes of a planar task and a 3D task which are switchable without any change in hardware. This feature provides efficient actuation and reduces computational burden since only 3 actuators are involved in the case of a planar task. The paper deals with a detailed description of the proposed haptic master and Jacobian analysis. Some applications are given to verify the validity of this device.
This paper presents the modeling and analysis of a MEMS switch for microwave applications. Parylene polymer (poly-para-xylylene) is studied as a substitution for silicon or metal-based materials in existing capacitive...
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Precise digital 3D models of indoor environments are needed in several applications, e.g., facility management, architecture, rescue and inspection robotics. This paper presents a new algorithm that transforms a 3D vo...
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ISBN:
(纸本)0769519911
Precise digital 3D models of indoor environments are needed in several applications, e.g., facility management, architecture, rescue and inspection robotics. This paper presents a new algorithm that transforms a 3D volumetric model into a very precise compact 3D map and generates semantic descriptions. Our system is composed of a robust, autonomous mobile robot for the automatic data acquisition and a precise, cost effective, high quality 3D laser scanner to gage indoor environments. The reconstruction method consists of reliable scan matching and feature detection algorithms. The 3D scene is matched against a coarse semantic description of general indoor environments and the generated knowledge is used to refine the 3D model.
Underwater vehicle-manipulator (UVM) system becomes popular for various applications although it has complexity in control and analysis when compared to the vehicle itself. To resolve the complexity, firstly, thorough...
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Underwater vehicle-manipulator (UVM) system becomes popular for various applications although it has complexity in control and analysis when compared to the vehicle itself. To resolve the complexity, firstly, thorough kinematic and dynamic analysis on the whole UVM system is performed. Then, the whole dynamics is divided into several meaningful terms. A robust coordinated motion control algorithm for autonomous UVM systems is considered next based on the analysis of divided dynamics. Since the vehicle has relatively smaller bandwidth than manipulators, active damping control with two-time scale approach for the manipulator is proposed. Using this algorithm, the manipulator controller can cover the vehicle state. The performance of the proposed algorithm is verified by computer simulations.
The interest in the analysis and application of a parallel robot system is arising in the automation industry. A new type of 3-D Parallel Robot Ann manipulator with human interface, as well as the parallel motion cont...
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ISBN:
(纸本)078037987X
The interest in the analysis and application of a parallel robot system is arising in the automation industry. A new type of 3-D Parallel Robot Ann manipulator with human interface, as well as the parallel motion control of a platform manipulator actuated by three AC servomotors are introduced in this paper. To comprehensively realize the performance of the parallel robot, the forward kinematics, inverse kinematics, Jacobian and singularity are theoretically derived for the application of quantified and graphical performance synthesis tools presented in [5]. In addition, the computer simulation of the parallel robot with MATLAB program is also proposed for the telerobotic system, and the experimental results of the telerobotic system showed good workability in the remote control. Moreover, the discussions and suggestions from the experiments are fully prepared. Through this study, the capability of this Parallel Robot in its applications as well as its future research and development are thus approached.
GVG has been effectively used as a sensor based navigation tool using 360° sensor data. For mobile guide robot applications, however, we can only use 180° sensor data and the robustness of the navigation alg...
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GVG has been effectively used as a sensor based navigation tool using 360° sensor data. For mobile guide robot applications, however, we can only use 180° sensor data and the robustness of the navigation algorithm is critical for successful applications. For that purpose, the robot should be equipped with three capabilities. Those are 1) incremental GVG construction, 2) robust GVG navigation and 3) navigation strategy that just uses half of the sensor scan, i.e. 180°. In this paper, we propose a GVG navigation algorithm that has above 3 capabilities. We firstly propose a method that can estimate the invisible 180° range from previous range data. Moreover, we suggest a way of robust GVG navigation algorithm by using a sensor data matching technique. The simulation result validates that the proposed algorithm can incrementally and robustly navigate the semi-unstructured map by using 180° sensor scan.
This paper presents a novel haptic mouse system as a new human computer interface, which has a force feedback capability. A proposed haptic mouse can reflect 1 dof grabbing force as well as 2 dof translation force whi...
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This paper presents a novel haptic mouse system as a new human computer interface, which has a force feedback capability. A proposed haptic mouse can reflect 1 dof grabbing force as well as 2 dof translation force which can simulate more realistic virtual experience. Five-bar mechanism has been adapted to realize the 2 dof translation force feedback, and double prismatic joint type of mechanism has been used to implement the grabbing force feedback. Wire-driven mechanism is mainly used for actuation to reduce the backlash as well as to provide back-drivability. In addition, haptic rendering algorithm for the proposed haptic mouse have been developed to give feelings of weight, shape and surface texture. By adding haptic information to the visual and audio information, the haptic mouse system is expected to be useful by presenting more realistic interaction in e-commerce in the future.
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