Autonomous robot calibration is defined as the process of determining a robot’s model by using only its internal sensors. It is shown that autonomous calibration of a manipulator and stereo camera system is possible. The proposed autonomous calibration algorithm may obtain the manipulator kinematic parameters, external kinematic camera parameters, and internal camera parameters. To do this, onl...

Robot frame compliance has a large negative effect on the global accuracy of the system when large external forces/torques are exerted. This phenomenon is particularly problematic in applications where the robot is required to achieve ultra-high (micron level) accuracy under very large external loads, e.g. in biomechanical testing and high precision machining. To ensure the positioning accuracy...

0) Introduction to theoretical and practical aspects of knowledge engineering or applied artificial intelligence. Topics include symbolic representation structures and manipulation, unification, production systems and structures, rule-based and expert systems, planning and AI system architectures; system design in PROLOG and LISP. Project is required. Study of the theoretical and practical aspe...

The kinematic calibration is a procedure to improve the manipulator accuracy without mechanical means by acting on the manipulator controller. Although manipulators are composed by accurate mechanical components, the precision of their motion is affected by many sources of error (Mooring et al, 1991). The final position accuracy is mainly influenced by: kinematic inaccuracy (due to manufacturin...

In this paper, we propose a balance control algorithm based on fuzzy controller using 3D (Dimensional) geometric information obtained from sequential images. The pose of a biped robot is acquired from image information instead of different sensors, and this pose information is used for fuzzy controller to keep biped robot in a stable balanced condition. Initially, the camera mounted on the head...

The utility of a mobile manipulator largely depends on its kinematic structure and mounting point on the robot body. The reachable workspace of the robot can be obtained offline and modeled as a discretized map called Reachability map. A Capability map is obtained by including some quality measure for the local dexterity of the manipulator, which helps to identify good and bad regions for manip...

In this paper the problem of system integration and dynamic modeling of a hydraulically actuated manipulator with seven degrees of freedom, i.e. HydroLek HLK-7W is investigated. The arm is fitted on Multi-Arm mobile Robot System for Nuclear Decommissioning (MARS–ND) applications purposes. This is a step forward with respect to the previous works where only kinematics of the robot was taking int...

Hector M. Gutierrez Florida Institute of Technology 18.1 Sliding Mode Controller Design–An Overview 18.2 The Sliding Mode Formulation of the Robot Manipulator Motion Control Problem 18.3 Equivalent Control and Chatter Free Sliding Control 18.4 Control of Robotic Manipulators by Continuous Sliding Mode Laws Sliding Mode Formulation of the Robotic Manipulator Motion Control Problem • Sliding Mode...

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the...

At present, robotic manipulators are commonly used in manufacturing industry. In many cases, their end-effectors are required to move from one place to the other and follow some desired trajectories. This paper develops a nonlinear backstepping control design scheme with velocity observers for the trajectory tracking control of robotic manipulators. In fact, most of robot manipulator controller...