This paper introduces a visual servoing control strategy designed for a vision-based robotic mobile manipulation system. The system continuously updates the motion of both the mobile base and its integrated manipulato...
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ISBN:
(数字)9798331508180
ISBN:
(纸本)9798331508197
This paper introduces a visual servoing control strategy designed for a vision-based robotic mobile manipulation system. The system continuously updates the motion of both the mobile base and its integrated manipulator by utilizing visual feedback from a stereo camera. A detailed description of the system components is provided, including the mobile robot, the robotic manipulator, and the stereo vision system, along with the design of a visual servoing controller grounded in Lyapunov's stability theory. The controller operates by adjusting the movements of the mobile base and manipulator to minimize the disparity between the current and desired pose, ultimately guiding the system to achieve the target position and orientation. To validate the kinematic model and assess the performance of the proposed control strategy, experiments were conducted using the Husky mobile robot in conjunction with a 6-DOF UR5 robotic manipulator. The results from these experiments substantiate the effectiveness and robustness of both the robot model and the implemented control law. These findings confirm the potential of the proposed system in achieving reliable and precise mobile manipulation tasks.
This paper presents the mechanism, system configuration, basic control algorithm, and integrated functions of a Semi-Autonomous Robotic Lift designed for efficient industrial material handling. The robot combines the ...
This paper presents the mechanism, system configuration, basic control algorithm, and integrated functions of a Semi-Autonomous Robotic Lift designed for efficient industrial material handling. The robot combines the capabilities of traditional manual tools with advanced sensors, including infrared, ultrasonic, and gesture sensors, to carry, lift, and navigate within a specified area. The use of a gesture sensor enables a user-friendly command protocol for scissor lift operations through simple hand movements. The robot's stability on uneven surfaces is ensured by four wheels and robust materials, such as steel and 3/4” wood, allowing it to withstand heavy loads safely. Safety protocols, including speed limits, light indicators, and an emergency stop button, adhere to industry standards. The Semi-Autonomous Robotic Lift, constructed with a mixture of steel and plywood, aims to facilitate the transportation of heavy materials in indoor industrial or warehouse settings, providing a cost-effective alternative to existing products.
Unlike conventional industrial robots that operate in a limited manufacturing environment, service robots should be able to operate in various environments. Where there are many complex high-rise buildings, service ro...
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Drones have been used extensively in the last decade, and there are estimates that this trend will continue in the coming decades. Having a sophisticated motion control algorithm is one of the important keys when we i...
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In this paper we analyze the development process of a smart knee orthosis that can monitor the bearer's movements and provide real-time feedback to aid the bearer's proper recovery after an injury. The develop...
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This study presents an autonomous mobile robot with advanced grasping capabilities designed to perform two missions: Pick and Place and Hold and Run. The robot’s four-wheeled chassis ensures stability and maneuverabi...
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ISBN:
(数字)9798331518301
ISBN:
(纸本)9798331518318
This study presents an autonomous mobile robot with advanced grasping capabilities designed to perform two missions: Pick and Place and Hold and Run. The robot’s four-wheeled chassis ensures stability and maneuverability, while an articulated arm with a specialized gripper manipulates 8-cm-diameter balls. Utilizing YOLO algorithms for accurate object detection, the vision system offloads image processing to a laptop via Wi-Fi for real-time monitoring and decision. Extensive tests validated the robot’s consistent task execution, demonstrating dexterity and intelligent navigation. Challenges such as hardware integration and vision system optimization were innovatively addressed. The modular design allows for easy upgrades and adaptability, highlighting significant future potential. The proposed robot fulfilled the preset goals of picking any defined colored ball and placing them into a box autonomously. Besides, achieving the athletic runner task around the classroom interior. This project showcases the interdisciplinary nature of robotics, combining mechanical engineering, computer vision, and software development with potential applications in service robotics.
Owing to an increase in diverse disaster incidents instigated by natural catastrophes and human error, extensive research on mobile robots, designed for disaster environment comprehension and human rescue operations, ...
Owing to an increase in diverse disaster incidents instigated by natural catastrophes and human error, extensive research on mobile robots, designed for disaster environment comprehension and human rescue operations, and has become more prevalent. Specifically, endeavors are being undertaken to equip mobile robots with grippers, enabling confined space navigation and life-saving activities within disastrous circumstances. Prominent among these are investigations into hybrid grippers and actuation systems, utilizing both hard and soft materials for obstacle removal. Nevertheless, for effective deployment of mobile robots within real disaster scenarios, the necessity for a compact hybrid gripper and drive system is indispensable. This paper elucidates the design and realization of a small-scale pneumatic pump module, developed to operate the jamming module of the previously compactly implemented hybrid gripper, also incorporating discussions on performance validation experiments. The verification experiments confirmed the capability of the proposed small-scale pneumatic pump to adequately operate the jamming module, thus reinforcing the hybrid gripper's grasping performance.
Accurately identifying sleep stages is crucial for the analysis and management of sleep disorders. Electroencephalogram (EEG) signals have shown promise in sleep stage identification. This research presents a novel me...
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For precise control, it can be achieved through a feedforward controller with a feedback control scheme. The feedforward controller can be automatically tuned with the datadriven methods through experimental results. ...
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For precise control, it can be achieved through a feedforward controller with a feedback control scheme. The feedforward controller can be automatically tuned with the datadriven methods through experimental results. However, these data-driven methods are interrupted when the input disturbance is applied. This problem can be solved using Disturbance Observer (DOB) in the control loop. In addition, a data-driven method derives accurate control performance by simultaneously tuning the feedforward controller and DOB model. Furthermore, a tuning algorithm with a rational model is proposed for the corresponding modeling to a flexible system. The simulation results verify that the proposed method accurately tunes the controller for an unknown plant under an input disturbance.
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