Omnidirectional Analysis of Spatial Manipulator
نویسندگان
چکیده
منابع مشابه
Modelling and control of an omnidirectional mobile manipulator
A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of...
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Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
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Mobile manipulator robotic systems (MMRSs) composed of a manipulator and a mobile platform are investigated in this paper. In order for the mobile manipulator robotic system (MMRS) to return to its initial state when the manipulator’s end-effector is requested to execute cyclical tasks, a quadratic program (QP) based repetitive motion planning and feedback control (RMPFC) scheme is proposed and...
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This paper deals with an absolute mobile robot selflocalization algorithm in an indoor environment. Until now, localization methods based on conical omnidirectional vision sensors uniquely used radial segments from vertical environment landmarks projection. The main motivation of this work is to demonstrate that the SYCLOP sensor can be used as a vision sensor rather than a goniometric one. The...
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1 Abstract—In this work, we study the problem of recovering the spatial layout of a scene from a collection of lines extracted from a single indoor image. Equivalent methods for conventional cameras have been proposed in the literature, but not much work has been done about this topic using omnidirectional vision, particulary powerful to obtain the spatial layout due to its wide field of view. ...
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ژورنال
عنوان ژورنال: Journal of Robotics
سال: 2015
ISSN: 1687-9600,1687-9619
DOI: 10.1155/2015/273237