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IKBT: Solving Symbolic Inverse Kinematics with Behavior Tree

Dianmu Zhang, Blake Hannaford
2019 The Journal of Artificial Intelligence Research  
Inverse kinematics solves the problem of how to control robot arm joints to achieve desired end effector positions, which is critical to any robot arm design and implementations of control algorithms.  ...  Therefore, closed-form inverse kinematics analysis is superior, but there is no generalized automated algorithm.  ...  We thank Moshe Lutz for proofreading this article.  ... 
doi:10.1613/jair.1.11592 fatcat:s5anrdb5dbdpjcyy37xlzvfgqu

A simulated risk assessment of human-robot interaction in the domestic environment

Tamanna E Kaonain, Mohd Azizi Abdul Rahman, Mohd Hatta Mohammed Ariff, Kuheli Mondal
2020 IAES International Journal of Robotics and Automation  
It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk.  ...  A reactive robot controller was formulated to minimize the risk during human-robot interaction.  ...  ACKNOWLEDGEMENTS The work presented in this paper is funded by the Ministry of Higher Education, Malaysia, and Universiti Teknologi Malaysia under research grant No. 09G22.  ... 
doi:10.11591/ijra.v9i4.pp300-310 fatcat:it3434vginhjflk7lk5e3hmz2e

Book announcements

1991 Discrete Applied Mathematics  
Optimal trajectory planning for industrial robots, by R. Johanni and F. Pfeiffer (Reviewed by Nenad M. Kircanski). Extended kinematic path control of robot arms, by E. Krustev and L.  ...  A Markovian approach to linear time series models. Markov processes generated by iterations of I.I.D. maps. Chapter of heat exchange. Chapter IV: Continuous-Parameter Markov Chains.  ...  Introduction to Part I. Chapter 1: Proof Search in Classical Sequent Calculi. Syntax  ... 
doi:10.1016/0166-218x(91)90059-6 fatcat:h2qaplcx7zg3xneksfm2e4gstq

Automatic Modeling for Modular Reconfigurable Robotic Systems: Theory and Practice [chapter]

I-Ming Chen, Guilin Yang, Song Huat
2006 Industrial Robotics: Theory, Modelling and Control  
and orientational differences between Figure 7 . 7 Inverse kinematics algorithm a general branch-type modular robot is similar to the treatment of the inverse-kinematics model in previous section.  ...  Conclusion We have presented a generic method to automate the model generation for modular reconfigurable robots based on a graph representation of robot geometry, called an assembly incidence matrix,  ...  InTech Europe This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies.  ... 
doi:10.5772/5017 fatcat:gmeq75gbzfa5rcteq57f7vweue

Artificial Bee Colony Optimization Algorithm Incorporated with Fuzzy Theory for Real-Time Machine Learning Control of Articulated Robotic Manipulators

Hsu-Chih Huang, Chun-Chia Chuang
2020 IEEE Access  
The D-H convention is employed to derive the forward kinematic equations of the six-DOF robot manipulator.  ...  Forward kinematics Articulated robotic arm consists of a set of links connected by joints to form a kinematic chain.  ... 
doi:10.1109/access.2020.3032715 fatcat:rus2qq6pbrcrtbxmijerke3754

Architecture Design and Optimization of an On-the-Fly Reconfigurable Parallel Robot [chapter]

Allan Daniel, Fengfeng Jeff, Brian Petz
2008 Parallel Manipulators, towards New Applications  
To calculate the workspace of a parallel robot, the inverse kinematics model is used to search for reachable points.  ...  Robot kinematics Parametric kinematic model Parallel robots have inverse kinematics that can generally be solved geometrically.  ...  Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour  ... 
doi:10.5772/5440 fatcat:rceentndtjgrneirfkmslw3jt4

Planning of Remote Laser Welding Processes

Gábor Erdős, Zsolt Kemény, András Kovács, József Váncza
2013 Procedia CIRP  
inverse kinematics of the robot.  ...  The proposed method leads to a substantial reduction in the cycle time of the welding operation compared to an earlier approach.  ...  Acknowledgement This work has been supported by EU FP7 grant RLW Navigator No. 285051 [16] , and the NKTH grant OMFB-01638/2009.  ... 
doi:10.1016/j.procir.2013.05.038 fatcat:sxj6gjp2cnc6lbsaecemfa54x4

Nanorobotics Control Design: A Collective Behavior Approach for Medicine

A. Cavalcanti, R.A. Freitas
2005 IEEE Transactions on Nanobioscience  
Abstract-The authors present a new approach using genetic algorithms, neural networks and nanorobotics concepts applied to the problem of control design for nanoassembly automation and its application  ...  As a practical approach to validate the proposed design, we have elaborated and simulated a virtual environment focused on control automation for nanorobotics teams that exhibit collective behavior.  ...  ACKNOWLEDGMENT The authors thank Tad Hogg for helpful comments on an earlier version of this paper.  ... 
doi:10.1109/tnb.2005.850469 pmid:16117021 fatcat:ftijcmf66jchvcalzjmw4lubf4

Kinematic Control of A Robot-Positioner System for Arc Welding Application [chapter]

Anatoly P., Alexandre B.
2006 Industrial Robotics: Programming, Simulation and Applications  
The common approach is based on the strictly downhand solution for the positioner inverse kinematics and the augmented solutions for the robot inverse kinematics, which depends on an arbitrary scalar parameter  ...  Moreover, the corresponding kinematic equations are converted to the identity, if u z =w z . So any value of q 1 is a solution for such input data.  ...  This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies.  ... 
doi:10.5772/4903 fatcat:7ve2lsds6zfkdmnxllb2bddl3q

Quick positional health assessment for industrial robot prognostics and health management (PHM)

Guixiu Qiao, Craig Schlenoff, Brian A. Weiss
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
for the test method, the advanced sensor development to measure 7-D information (time, X, Y, Z, roll, pitch, and yaw), algorithms to analyze the data, and a use case to present the results.  ...  A subset of this research involves developing a quick health assessment methodology emphasizing the identification of the positional health (position and orientation accuracy) changes.  ...  Fig. 3 shows a rotary axis (we refer to it as the "i-axis" as the representation of a general situation), which represents the joint of a robot.  ... 
doi:10.1109/icra.2017.7989214 dblp:conf/icra/QiaoSW17 fatcat:w66gvuumnrcatfjb62q246ai7m

Evolutionary Machine Learning for Optimal Polar-Space Fuzzy Control of Cyber-Physical Mecanum Vehicles

Hsu-Chih Huang, Jing-Jun Xu
2020 Electronics  
The proposed FPA-fuzzy computation collaborates with the advanced sensors and actuators of Mecanum vehicles to design a cyber-physical robotic system.  ...  This paper contributes to the development of evolutionary machine learning (EML) for optimal polar-space fuzzy control of cyber-physical Mecanum vehicles using the flower pollination algorithm (FPA).  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/electronics9111945 fatcat:ntqsfzcgpfekxhctuifzovirca

Symbolic computation: systems and applications

Algimantas Juozapavičius
1998 Nonlinear Analysis: Modelling and Control  
The article presents an overview of symbolic computation systems, their classification-in-history, the most popular CAS, examples of systems and some of their applications.  ...  Symbolics versus numeric, enhancement in mathematics, computing nature of CAS, related projects, networks, references are discussed.  ...  Jacobian J of the matrix above is used to solve inverse kinematics, to explore singularities in the motion of the robot-arm, as well as to get numeric values of the location and rotation of the arm.  ... 
doi:10.15388/na.1998.3.0.15257 fatcat:dalgebvodvaz7haiiys3ojlpsa

A Capability-Aware Role Allocation Approach to Industrial Assembly Tasks

Edoardo Lamon, Alessandro De Franco, Luka Peternel, Arash Ajoudani
2019 IEEE Robotics and Automation Letters  
The deployment of industrial robotic cells based on lean manufacturing principles enables the development of fastreconfigurable assembly lines in which human and robotic agents collaborate to achieve a  ...  To ensure the effective coordination of the shared effort, each task must be decomposed into a sequence of atomic actions that can be assigned either to a single agent or to the combination of more agents  ...  INTRODUCTION D ESPITE the recent progress in developing powerful and reliable robotic arms for industry, most of the manufacturing tasks are not yet automated.  ... 
doi:10.1109/lra.2019.2926963 fatcat:jooeld64wbf2xlo3hrgeagrqna

Robotic Aubergine Harvesting Using Dual-Arm Manipulation

Delia Sepulveda, Roemi Fernandez, Eduardo Navas, Manuel Armada, Pablo Gonzalez-de-Santos
2020 IEEE Access  
Finally, we propose a novel algorithm for dealing with occlusions using the capabilities of the dual-arm robot for coordinate work.  ...  This article presents a dual-arm aubergine harvesting robot consisting of two robotic arms configured in an anthropomorphic manner to optimize the dual workspace.  ...  Therefore, notably, the computing time of the inverse kinematics is similar to that required for the dual-arm manipulation.  ... 
doi:10.1109/access.2020.3006919 fatcat:ylms77tberg2pb3fnlr3sgx5gu

A Branch and Prune Algorithm for the Computation of Generalized Aspects of Parallel Robots [chapter]

Stéphane Caro, Damien Chablat, Alexandre Goldsztejn, Daisuke Ishii, Christophe Jermann
2012 Lecture Notes in Computer Science  
This paper introduces a new method, based on numerical constraint programming, to compute a certified enclosure of the generalized aspects.  ...  It also provides a lower-bound on the exact number of generalized aspects.  ...  This work was partially funded by the French agency ANR project SIROPA (PSIROB06 174445) and JSPS (KAKENHI 23-3810). The computer used for the experiments was supported by Prof.  ... 
doi:10.1007/978-3-642-33558-7_62 fatcat:j54lzbnn7bcqzg5b7okdqq4i6m
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