This article presents a genetic algorithm approach to multi-criteria motion planning of mobile manipulator systems. For mobile robot path planning, traveling distance and path safety are considered. The workspace of a...
This article presents a genetic algorithm approach to multi-criteria motion planning of mobile manipulator systems. For mobile robot path planning, traveling distance and path safety are considered. The workspace of a mobile robot is represented as a grid by cell decomposition, and a wave front expansion algorithm is used to build the numerical potential fields for both the goal and the obstacles. For multi-criteria position and configuration optimization of a mobile manipulator, least torque norm, manipulability, torque distribution and obstacle avoidance are considered. The emphasis of the study is placed on using genetic algorithms to search for global optimal solutions and solve the minimax problem for manipulator torque distribution. Various simulation results from two examples show that the proposed genetic algorithm approach performs better than the conventional methods.
In this paper, we present a global, decentralized adaptive design procedure for a class of large-scale nonlinear systems, which utilizes only local output feedback, The advocated scheme guarantees robustness to parame...
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In this paper, we present a global, decentralized adaptive design procedure for a class of large-scale nonlinear systems, which utilizes only local output feedback, The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections and also rejects any bounded disturbances entering the system. The systems belonging to this class are those which can be transformed using a global diffeomorphism to the output feedback canonical form, where the interconnections are a function of subsystem outputs only, The uncertainties are assumed to be bounded by an unknown pth-order polynomial in the outputs, The resulting controller maintains global uniform boundedness of all signals of the closed-loop system with good robustness and disturbance rejection properties. The output tracking error is shown to be bounded within a compact set, the size of which can be made arbitrarily small by appropriate choice of the control gains. For the case where the objective is regulation, global asymptotic regulation of all the states of the closed-loop system is achieved.
An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the s...
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An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the system. Given the trajectory of the end-effector of the manipulator, near-optimal trajectories for the mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented method.
A method of time switching for time-division communication systems is introduced, A compact shift register-based circuit is used for this purpose in order to achieve high-speed switching.
A method of time switching for time-division communication systems is introduced, A compact shift register-based circuit is used for this purpose in order to achieve high-speed switching.
Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integ...
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Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integration of such modalities using intelligent reasoners. The rationale is that many inherent ambiguities in single modes of communication can be resolved if extra information is available. This paper describes an intelligent multi-modal system called the Smart Work Manager. The main characteristics of the Smart Work Manager are that it can process speech, text, face images, gaze information and simulated gestures rising the mouse as input modalities, and its output is in the form of speech, text or graphics. The main components of the system are the reasoner, a speech system, a vision system, an integration platform and the application interface. The overall architecture of the system will be described together with the integration platform and the components of the system which include a non-intrusive neural network based gaze-tracking system. The paper concludes with a discussion on the applicability of such systems to intelligent human/computer interaction and lessons learnt in terms of reliability and efficiency.
A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring in...
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A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process
We discuss t,he sliding mode control to suppress a spillover phenomena caused by t,runcation of the higher flexible modes for a flexible system. We propose a new method to suppress a higher frequency region including ...
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Presents the state-of-the-art in industrial mobile robotics within Europe and how the future industrial requirements can best be satisfied. States that the focus for the development of mobile robotic vehicles has been...
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Presents the state-of-the-art in industrial mobile robotics within Europe and how the future industrial requirements can best be satisfied. States that the focus for the development of mobile robotic vehicles has been in hazardous applications such as the nuclear industry, petrochemical plants and offshore operations, but the same technology has potential for use in other areas ranging from construction, outdoor applications (forestry, anti-personnel mine clearing), mining and leisure. Presents the results of the investigations carried out for the Brite Euram Thematic Network on climbing and walking robots where most of the countries in the European Community have been considered in the studies. Reports a major finding that mobile robots have an enormous potential for commercial exploitation but same fundamental problems need to be solved first;these concern improvements in sensors, actuators and powering technologies. Argues that the robots of the future also need to have strong autonomous capabilities, must be able to self-learn as well as be reliable for continuous operation. Identifies modularity as a key feature requiring careful attention so that the future machines can be easily and rapidly prototyped for new applications.
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