In this paper, movement speed models of a robotic manipulator are presented according to the mode of operation of the human hand, when it wants to grasp and release an object. In order to develop the models, measurements on a human agent were required regarding the movement coordinates of his hand. The movement patterns have been approximated on the intervals, using first and second degree func...

In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we Þrst develop model-based and adaptive full-state feedback controllers. W...

After a brief review of the current research on multi-robot systems, the paper presents a path planning and control scheme for a cooperative three-robot system transferring/manipulating a large object from an initial to a desired final position/orientation. The robots are assumed to be capable of holding the object at three points that define an isosceles triangle. The mode of operation adopted...

A design structure is presented to assist in the design of IEEE compliant oating point hardware. The basis of the process is an abstraction of the bitwise operations found in hardware to reals and integers. This simpliies the deenition of functionality prior to going to hardware. The nal design structure will include a set of general algorithms deened for oating point operations (add, sub, mult...

We consider a precoding scheme without modulo operation at the receiver for the Gaussian channel with Gaussian interference which is known causally at the transmitter. Modulo operation which is conventionally applied to the received signal for the sake of convenience in analysis causes information loss. In this paper, we investigate the gain in capacity by removing modulo operation at the recei...