This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of Artigo submetido em 10/03/2011 (Id.: 01293) Revisado em 27/05/2011 Aceito sob recomendação do Editor Associado Prof. Carlos Roberto Minussi explicitly using the constraint equatio...

The description of a serial kinematic chain should be unique, unambiguous, simple to determine, easy to use and well-behaved when small changes are made in the arrangement of the elements of the chain. The notation currently in use, introduced by Denavit andHartenberg, does not satisfy all of these criteria. It involves arbitrary choices, so that more than one description may apply to a given k...

This paper presents a simulation framework for evolution on uneven terrains for a wheeled mobile robot such as a synchronous drive robot. The framework lends itself as a tool capable of solving various problems, such as forward kinematic based evolution, inverse kinematic based evolution, path planning and trajectory tracking. This framework becomes particularly useful when we understand that t...

In optimal control problems, there exist different kinds of extremals, that is, curves candidates to be solution: abnormal, normal and strictly abnormal. The key point for this classification is how those extremals depend on the cost function. We focus on control systems such as nonholonomic control mechanical systems and the associated kinematic systems as long as they are equivalent. With all...

In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous mobile robots with nonholonomic kinematic and dynamic constraints. In comparison with standard coverage control procedures, we develop a combined controller for Voronoi-based coverage approach in which kinematic and dynamic constraints of the actual mobile sensing robots are incorpo...

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, the trajectory tracking control problem of uncertain nonholonomic mechanical systems is investigated. By separately considering kinematic and dynamic models of a nonholonomic mechanical system, a new adaptive tracking control is proposed based on neural network approximation. The proposed design consists of two steps. First, the nonholonomic kinematic subsystem is transformed int...

Sequential Monte Carlo methods have attracted the attention of the tracking community as a solution to Bayesian estimation particularly for nonlinear problems. Several attributes of particle filters support their use in jointly tracking and identifying ground targets in a road-constrained network. First, since the target dynamics are simulated, propagating a target within a constrained state sp...