This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback ...
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This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.
An an application of robotics in physical rehabilitation therapy, a robotic system consisting of two planar robot arms, each with two degrees of freedom, is considered. This robotic system, when coupled across a human...
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An an application of robotics in physical rehabilitation therapy, a robotic system consisting of two planar robot arms, each with two degrees of freedom, is considered. This robotic system, when coupled across a human joint, provides a vehicle for rehabilitation of the joint following surgery or trauma. A novel approach for estimation of body segment parameters is formulated that uses state and output information from the robot system to improve these estimates. In addition, redundant sensors are used to improve the accuracy of the estimates. The dynamic equations for a single robot arm are provided and the system is simulated. Therapeutic applications of the robotic system are discussed and the sensitivity of the measured forces with respect to the robot arm joint angles is studied in order to find an optimum orientation of the system for the best possible estimation. The application of this system to both rehabilitation and sports medicine is also discussed.< >
This paper describes a method for computing Gaussian and mean curvature maps from range data and a modification to this method aimed at facilitating its implementation as a VLSI circuit. The curvature computations con...
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This paper summarizes the design of a convolution processor card that is very low in cost, easy to use and most importantly, performs a 9 × 9 convolution in less than a second. Its high-performance is attributed ...
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The use of multisensor integration and fusion enables a multisensor-based mobile robot to operate in uncertain or unknown dynamic environments. After first distinguishing between multisensor integration and the more r...
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In this paper, the usefulness of applying the complex as well as ordinary moment features for similar object recognition using a tactile array sensor has been explored. Some complex moment invariants have been derived...
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A flexible robotic system with intelligent sensory capability which can be used in an industrial environment to autonomously perform sophisticated manufacturing tasks that are typically done by manual labor is present...
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Issues concerning the effective integration of multiple sensors into the operation of intelligent systems are presented, and a description of some of the general paradigms and methodologies that address this problem i...
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The objective of this paper is to develop an innovative 3-D objects recognition algorithm which solves correspondence problem and reduces computational cost for recognition. Correspondency between features of unknown ...
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An architectural model is proposed for intelligent robotic systems (IRSs). Specific hardware mechanisms are described for the organization and coordination levels using microprocessor-based and discrete logic design t...
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An architectural model is proposed for intelligent robotic systems (IRSs). Specific hardware mechanisms are described for the organization and coordination levels using microprocessor-based and discrete logic design techniques. The overall system is modeled as a loosely coupled parallel distributed processing system which is shown to preserve the hierarchical structure and the principle of increasing intelligence with decreasing precision. Modifications can be performed within one or more of the subsystems without violation of the overall system structure. In addition, the scheme provides flexibility, incorporating functionality for various application domains without modifications of the configuration of the overall IRS. Intensive calculations are distributed among different parts of the machine, resulting in higher performance.< >
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