The robot motion

This paper proposes the design of a neural network controller based on a sample controller for controlling the trajectory-tracking motion of a differential drive mobile robot (DDMR). Firstly, the trajectory tracking model for DDMR is established based on position error. Next, a perceptron neural network is designed with three hidden layers to control the trajectory tracking of DDMR.

13p dianmotminh02 03-05-2024 6 4   Download

This papers presents the dynamic model of a 3D inverted pendulum model and applies to balanced motion planning for a humanoid robot. The obtained results show that the robot is able to keep balance during its movements.

10p vimarillynhewson 02-01-2024 8 4   Download

The application of autonomous mobile robots (AMRs) has gradually become crucial in smart factories due to the advantages of improving production efficiency and reducing labour costs. Motion planning has been a key part of AMR control development. This paper presents motion planning and position tracking control systems of an omnidirectional wheel AMR powered by a hybrid fuel cell and battery power source.

8p vimichaelfaraday 28-12-2023 7 6   Download

This paper presents a new effective iterative learning control method for repetitive motion-tracking control problems of robotic manipulators. The controller is comprised of two control loops. In the inner loop, a simple proportional-derivative signal is adopted to stabilize the closed-loop system that facilitates design of the outer loop.

9p vibranson 30-11-2023 12 7   Download

Ebook "Recent advances in artificial neural networks design and applications" includes content: A neuro-symbolic hybrid intelligent architecture with applications; new radial basis neural networks and their application in a large-scale handwritten digit recognition problem; efficient neural network-based methodology for the design of multiple classifiers; learning fine motion in robotics - Design and experiments;... and other contents.

359p haojiubujain07 20-09-2023 6 3   Download

This paper presents planning the optimal trajectory using genetic algorithm. When the optimal trajectory is designed with considered constraints such as torque limit, range of motion of joints as well as velocity of joints.

15p viwolverine 11-07-2023 8 6   Download

This action limits the flexibility in the mechanical structure of the system. In order to make a robot more flexible, some researcher suggested replacing the solid legs with compliant components such as elastic legs. Basing on that transforming in mechanical structure, many control algorithms have been implemented by the direction that approximating robot into SLIP model to simplify the real model.

9p vidoctorstrange 06-05-2023 8 4   Download

This paper proposes an optimal motion planning method consisting of a genetic algorithm (GA), potential field (PF), and Dubins curve for a Car-like mobile robot to solve the problem of finding the shortest and most feasible path in the global environment.

11p vicaptainmarvel 21-04-2023 8 5   Download

In this study, we present an integrated socially aware navigation framework for mobile robots by incorporating the techniques proposed in our previous studies, including human detection and tracking, encoder and laser-based localization and mapping, approaching pose estimation, and social timed elastic band-based motion planning systems into a completed navigation framework.

13p vidudley 20-02-2023 8 5   Download

In this research, we propose a method, based on the theory of screws for solving the kinematic analysis of this robot. Our study describes the mathematical model of the manipulator which deals with the motion of robot kinematic respect to geometry links, the matter of finding the mathematical relation between the joint variables.

5p vispyker 16-11-2022 9 5   Download

(BQ) Ebook Industrial robotics: Technology, programming, and applications – Part 1 presents the following content: Chapter 1 introduction; chapter 2 fundamentals of robot technology, programming, and applications; chapter 3 control systems and components; chapter 4 robot motion analysis and control; chapter 5 robot end effectors; chapter 6 sensors in robotics; chapter 7 machine vision.

203p runordie6 10-08-2022 16 4   Download

Lecture Artificial Intelligence - Chapter 25: Robotics. The main contents of this chapter include all of the following: The rubber hits the road, mobile robots and manipulators, degrees of freedom to define robot configuration, localization and mapping as probabilistic inference problems (require good sensor and motion models), motion planning in configuration space requires some method for finitization.

27p cucngoainhan0 10-05-2022 17 6   Download

The paper presents a simple and efficient method of calibration for a camera-on-hand system, where the internal and external parameters of a 2D camera as well as the hand-eye parameters are simultaneously calibrated. The method is based on the 3D-to-2D projections of a calibrationblock with minimum two pure translations and two pure rotations of hand motions. Being evaluated on simulation data and real robot vision system indicate that our method can work stably with different noise and number of stations.

16p spiritedaway36 28-11-2021 6 1   Download

This paper presents build a finite time observator (FTO) and applies it to the Almega 16 robot motion system. The main content of the article is to design a FTO so that the observation of the external noise of the Almega 16 robot motion system will converge to the desired true value over a period of time. finite, is done by estimating the external noise quantities and then feeding them into the available Robot controller.

6p vijenchae2711 21-07-2021 10 3   Download

Objective: This dissertation explores the influence of pectoral fin structures at different swimming modes on a robotic fish's locomotion behavior; Some objectives are addressed to achieve the mentioned aim as follows: Firstly, new designs based on bio-inspired pectoral fin types are constructed. Secondly, to describe fin deformation and body part movement, novel dynamically mathematical models are developed.

28p extraenglish 26-05-2021 25 5   Download

This paper presents the results of controller designing for enhancement position accuracy of two-link flexible robot which motions on planar plane. The first link is rigid with rotational joint and the second link is flexible and slides in translational joint which fixed mounted the end point of link 1.

10p vinevada2711 19-03-2021 14 3   Download

Dynamic equations of flexible robot in this paper are built by using finite element method (FEM) and Lagrange’s equations of the second kind approach. The generalized displacement vector in dynamic equations includes motion and elastic displacement variables.

10p vinevada2711 19-03-2021 14 2   Download

This paper presents a build of Repetitive Control Law with desired trajectory periodic in joint space so reduced on-line computation for the motion system of the Almega16 manipulator. In a Repetitive Control Law always has the desired cycle trajectory with time T and always provides state information update on the time-variant parameters. The true value is compared to the reference set-point and its evaluation result is input to the controller for adjustment.

5p caygaocaolon6 22-07-2020 19 3   Download

In this study, we present an integrated navigation system for the autonomous mobile robot in the dynamic environment by incorporating the techniques proposed in our previous studies, including object detection and tracking system, localization system and motion planning system, into a completed navigation system. In addition, we propose an extended timed elastic band (ETEB) technique for online trajectory planning, which allows the mobile robot to proactively avoid obstacles in the surrounding environment.

15p 12120609 01-06-2020 26 1   Download

The robot can be connected to a computer, mobile phone or other terminals through a WiFi network built within the robot, so as to achieve real time control of the robot motion, and to display videos or images collected by the robot on the computer screen.

11p vivalletta2711 11-01-2020 25 0   Download