A modular robotic system consists of standardized joint and link units that can be assembled into various kinematic configurations for different types of tasks. For the control and simulation of such a system, manual derivation of the kinematic and dynamic models, as well as the error model for kinematic calibration, require tremendous effort, because the models constantly change as the robot g...

JINGYU YAN: Recovering Articulated Non-rigid Shapes, Motions and Kinematic Chains from Video. (Under the direction of Marc Pollefeys.) Recovering articulated shape and motion, especially human body motion, from video is a challenging problem with a wide range of applications in medical study, sport analysis and animation, etc. Previous work on articulated motion recovery generally requires prio...

Satisfactory results of automatic guidance of farm vehicles have been achieved in previous works as long as vehicles move without sliding, but unfortunately in agricultural applications, sliding always occurs inevitably which causes loss of accuracy. In this paper the problem of path following control of autonomous farm vehicles subject to sliding is addressed. To take sliding effects into acco...

This work is a synthesis of our experience over parallel kinematic machine control, which aims at changing the standard conceptual approach to this problem. Indeed, since the task space, the state space and the measurement space can coincide in this class of mechanism, we came to redefine the complete modeling, identification and control methodology. Thus, it is shown in this paper that, generi...

This paper presents the results of a comprehensive study on the efficiency of planar parallel mechanisms, considering their kinetostatic performance and also, their workspace. This aim is approached upon proceeding single- and multi-objective optimization procedures. Kinetostatic performances of ten different planar parallel mechanisms are analyzed by resorting to a recent index, kinematic sens...

In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics in the case of existence of constant communication delays. We propose an observer-based adaptive controller to achieve the manipulable consensus without relying on the measurement of task-space velocities, and also formalize the concept of manipulability to...

The inverse dynamic analysis of biomechanical systems is corrupted by numerous sources of error that reduce its usefulness. The most important errors are the raw displacement differentiation and the kinematic inconsistency induced by skin motion. The first type of error is mainly due to the amplification of high-frequency low-amplitude noise introduced by the motion capture system when the raw ...

The paper by Zhnang and Roth [5] presents a Linear solution to kinematic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved first before solving for the translation parameters for all revolute joints and the orientation parameters for all prismatic joints simultaneously. Our major modification here is to decomp...

The present paper shows a systematic approach to modeling and control mobile manipulators that transforms the problem to the modeling of a stationary manipulator stationary with nonholonomic kinematic constraints on the joints. The task-space control consists in an internal compensator of the dynamics of the mobile manipulator and an external proportional–derivative (PD) control with feed-forwa...

The conditions imposed in the paper [’Inertial manifolds and completeness of eigenmodes for unsteady magnetic dynamos’, Physica D 194 (2004) 297-319] on the fluid velocity to guarantee the existence of inertial manifolds for the kinematic dynamo problem are too demanding, in the sense that they imply that all the solutions tend exponentially to zero. The inertial manifolds are meaningful becaus...