This paper presents the research work on a 1 degree of freedom (DOF) force reflecting tele-micromanipulation system. This system enables a human operator to position remote objects very precisely having haptic feedback. The slave robot is a nano-positioning piezo-actuator with hysteretic dynamics. This intrinsic nonlinearity results in positioning inaccuracy and instability. Hence, a LuGre fric...

This paper proposed with new Synchronized Robotic Arm, which is well applied in many automotive industries, routine work related industrial engineering section where as human errors can be ignoring and suitable places, for picking objects and placing the objects from one position to another position, we designed a well-constructed robotic arm and would well perform the task as the working arm d...

The Fokker-Planck equation (FPE) is a frequently used tool for the solution of cross probability density function (PDF) of a dynamic system response excited by a vector of random processes. FEM represents a very effective solution possibility, particularly when transition processes are investigated or a more detailed solution is needed. Actual papers deal with single degree of freedom (SDOF) sy...

Redundant system with three two-degree-of-freedom (2-DOF) inertial sensors is one of the possible candidates for the UAV inertial sensor redundancy management system. In the conventional FDI techniques using hardware redundancy, at least four 2DOF inertial sensors are needed to detect and isolate the faulty sensor. Since two input axes of 2-DOF inertial sensors are mechanically correlated with ...

ABSTRACT: This paper presents a procedure for parametric uncertainty modeling of a highly nonlinear multiinput multioutput (MIMO) cross coupled system for the purpose of Linear Fractional Transformation (LFT) model realization. A novel technique has been considered to represent the control oriented LFT modeling of linear parametric models. A systematic approach is to find the equivalent represe...

More and more systems exploit parametric excitation (PE) to improve their performance compared to conventional system. Especially in the field of micro-electromechanical systems (MEMS) such technologies rapidly gain in importance. Different to conventional resonance cases PE may destabilise the system’s rest position when parametrically excited time-periodically with a certain PE frequency. At ...

An automatic system aimed at producing a compact tridimensional description of indoor environments using a mobile 3D laser scanner is described in this paper. The resulting description is made up of a Multi-Level Map (ML map) and a series of planar patches extracted from the map. We propose a novel plane detection algorithm, based on the efficient RANSAC algorithm, that operates directly over t...

Some insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot naviga...

Formulas for the optimal design of single-degree-of-freedom (SDOF) tuned-mass dampers (or dynamic vibration absorbers) for SDOF structures under random and harmonic excitations have been available for many years. Whenever an absorber body is attached to a primary system, there is potential for utilization of motion in more than one degree of freedom of the body relative to the primary system. I...