In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model...

In this paper, we present the mechanical design of a very compact climbing robot with outstanding mobility in environments that allow for ferromagnetic adhesion. It is planned to be used for the inspection of complex shaped environments in power plant components, as they can be found in the housings of large generators, steam chests or pipe systems. After a detailed discussion of previous desig...

This paper describes the development of a Stewart platform-based robot force sensor with distinctive structure of ball joints. The number of ball joints is only a half of the similar style sensors, so it is possible to reduce size and weight of the sensor. The structure of ball joint is described and discussed. Furthermore, we use strain gauges, but not liner voltage differential transformers, ...

Underwater robots require adequate guidance and control to perform useful tasks. Visual information is important to these tasks and visual servo control is one method by which guidance can be obtained. To coordinate and control thrusters, complex models and control schemes can be replaced by a connectionist learning approach. Reinforcement learning uses a reward signal and much interaction with...

This paper presents an integrated real-time control system for a Robotic Filament Winding manufacturing cell. The architecture is based on a multiprocessor system employing four processor boards. The system incorporates a hierarchical control layout with the task specification at the highest level and the robot and winder set point tracking at the lowest. Eventual design goals include a PC fron...