This paper provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspec...

This thesis describes the design, modeling, manufacture, and testing of a low cost, multiple degree-of-freedom underwater manipulator. Current underwater robotic arm technologies are often expensive or limited in functionality. The goal of this research is to produce a multiple degree-of-freedom manipulator utilizing relatively inexpensive, commercial off-the-shelf servo motors. This project is...

Test methods and data acquisition system specifications are described for measurements of the energy consumption of the control system of a servo-pump continuously variable transmission (CVT). Dynamic measurements of the power consumption of the servopump CVT control system show that the control system draws approximately 18.9 W-hrs of electrical energy over the HWFET cycle and 13.6 W-hrs over ...

This report focuses on the development of an integrated servo-controller (ISC) for servomotors. Comprising of mainly servocontroller and servo-amplifier, this ISC is capable of controlling a wide range of servomotors to perform complicated tasks. Hence, integration of this ISC with a servomotor forms an intelligent modular actuator (IMA) that is essential to modern manufacturing industries. The...

AC servo-driven precision transmission system is mainly composed of AC servo motor, mechanical transmission parts and control parts. Because of mutual coupling between various parts, particularly transmission system in mechanical coupling vibration in non-smooth transition, it will be of great harm to safe operation of the system. This paper made some overview and built the model of AC servo-dr...

Development of automation and robotization in manufacturing process stimulates interest in pneumatic servo-systems whose advantages include low manufacturing costs, high dynamics and reliability (Situm et al., 2004). Unsatisfactory positioning accuracy of multiaxis pneumatic servosytems considerably reduces their application in manipulating machines, manipulators and robots. Rapid advance in pa...

The framework of this study is computerassisted control of hydraulic actuated mobile machinery, such as mining manipulators and earth moving equipment. The design of both methods is treated and experimental results are presented. Several criteria for comparison are detailed to assist in a rational decision making process. In this paper, two different approaches have been taken in an attempt to ...

This paper presents the design and implementation of a sliding-mod controller for tracking servo of optical disk drives. The tracking servo is majorly subject to two disturbance sources: radial run-out and shock. The lateral run-out disturbance is mostly repeatable, and a model of such disturbance is incorporated into the controller design to effectively compensate for it. Meanwhile, as a shock...

The authors detail two servo-control strategies which improve the performance of servodriven electro-hydraulic robotic manipulators. The first servo-controller is pragmatic approach based on both empirical controller design and fuzzy logic and results presented demonstrate that its performance clearly surpasses that of the conventional P-controller. The second servo-controller is a robust state...