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A versatile C++ toolbox for model based, real time control systems of robotic manipulators

R. Hopler, M. Otter
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)  
Model based technologies form the core of advanced robotic applications such as model predictive control and feedback linearization.  ...  More sophisticated models result in higher quality but the use in embedded real-time control systems imposes strict requirements on timing, memory allocation, and robustness.  ...  Acknowledgements The authors would like to thank Stefan Pieters, AMATEC Robotics, Germany, who initiated and continuously supported this work. One author (R. H.) is funded in part by AMATEC Robotics.  ... 
doi:10.1109/iros.2001.976398 dblp:conf/iros/HoplerO01 fatcat:l3g4xbiobvfj3crc2ilero5m44

KUKA Control Toolbox

Francesco Chinello, Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo
2011 IEEE robotics & automation magazine  
T his article presents an open-source MATLAB toolbox for the motion control of KUKA robot manipulators.  ...  The KUKA Control Toolbox (KCT) is a collection of MATLAB functions developed at the University of Siena.  ...  As far as robotics is concerned, several toolboxes have been recently presented for the modeling of robot systems [1] - [5] .  ... 
doi:10.1109/mra.2011.942120 fatcat:qwt4lo36rbgh3pxapzic3tcfte

Real Time Application for Automatic Object and 3D Position Detection and Sorting with Robotic Manipulator

Tichaona Jonathan MAKOMO, Kenan ERİN, Barış BORU
2020 Sakarya University Journal of Science  
A robotic system consisting of an ABB IRB120 robot equipped with a gripper and a 3D Kinect for Windows camera sensor is used.  ...  To enhance the flexibility and easy functionality of the robot, MATLAB, a versatile and powerful programming language is used to control the robot.  ...  Conflict of Interests The authors declared no conflict of interest. Author Contributions  ... 
doi:10.16984/saufenbilder.655716 fatcat:tukl6vpx4fctlpnkuqqslmj4x4

KCT: a MATLAB toolbox for motion control of KUKA robot manipulators

Francesco Chinello, Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo
2010 2010 IEEE International Conference on Robotics and Automation  
The Kuka Control Toolbox (KCT) is a collection of MATLAB functions for motion control of KUKA robot manipulators, developed to offer an intuitive and high-level programming interface to the user.  ...  The toolbox, which is compatible with all 6 DOF small and low payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via TCP/IP.  ...  As far as robotics is concerned, several toolboxes have been presented in the last decade for the modeling of robot systems [2] - [7] .  ... 
doi:10.1109/robot.2010.5509415 dblp:conf/icra/ChinelloSMP10 fatcat:eosdbe5mj5gqpo76j7ntc2xq4m

KUKA Sunrise Toolbox: Interfacing Collaborative Robots with MATLAB [article]

Mohammad Safeea, Pedro Neto
2017 arXiv   pre-print
The KST contains functionalities for networking, real-time control, point-to-point motion, setters and getters of parameters and physical interaction.  ...  Collaborative robots are increasingly present in our lives. The KUKA LBR iiwa equipped with the KUKA Sunrise.OS controller is a good example of a collaborative/sensitive robot.  ...  This research was partially supported by Portugal 2020 project DM4Manufacturing POCI-01-0145-FEDER-016418 by UE/FEDER through the program COMPETE2020, and the Portuguese Foundation for Science and Technology  ... 
arXiv:1709.01438v1 fatcat:qwyzyzho2jh6hiche6vhmpx2vq

The Matlab Toolbox for Modeling Complex Mechanisms

I. Pająk
2014 International Journal of Applied Mechanics and Engineering  
In the paper, a new version of the Matlab toolbox for modeling and simulation of any mechanisms consisting of open kinematic chains is presented.  ...  The toolbox also provides a set of tools for performing simultaneous simulations of many robots and other objects in their workspace.  ...  The inline function f (line 7) determines configuration of the limb for each time instant based on coefficients c calculated by trj_poly3.  ... 
doi:10.2478/ijame-2014-0019 fatcat:ruzweg7djzcvff7oi4ha62s2vu

Robotic path planning for non-destructive testing – A custom MATLAB toolbox approach

Carmelo Mineo, Stephen Gareth Pierce, Pascual Ian Nicholson, Ian Cooper
2016 Robotics and Computer-Integrated Manufacturing  
The purpose of this paper is to present work undertaken for the development of a KUKA robot manipulator based automated NDT system.  ...  Comparative metrology experiments were undertaken to evaluate the real path accuracy of the toolbox when inspecting a curved 0.5 m 2 and a 1.6 m 2 surface using a KUKA KR16 L6-2 robot.  ...  Additional support was provided with assistance from UK Research Centre in NDE (EP/F017332/1) and EPSRC Equipment Grant "New Imaging Systems for Advanced Non-Destructive Evaluation" (EP/G038627/1).  ... 
doi:10.1016/j.rcim.2015.05.003 fatcat:rdee6vj4hba3bb2gcvphttcpq4

Impedance Controllers for Electric-Driven Robots

Edward Jezierski, Artur Gmerek
2013 Journal of Automation, Mobile Robotics & Intelligent Systems  
This article presents a proposal of impedance controller, which is able to infulence the compliance of a robot, based on information obtained from a lowlevel controller about robot interaction with the  ...  The proposed system consists of a lowlevel controller with proximity sensor, based on which mechanical impedance is adjusted.  ...  Note: This is an expanded version of the paper presented during The Polish National Conference on Robotics, 2012.  ... 
doi:10.14313/jamris_4-2013/13 fatcat:a4as7vrgkfcvjgmuyzsaou43k4

Flexible XML-based configuration of physical simulations

R. M. Sunderland, R. I. Damper, R. M. Crowder
2004 Software, Practice & Experience  
Those parts of the system that require real-time data exchange use very simple UNIX socket-based interactions, which are configured using shared XML setup files.  ...  This short communication details an example application using this technology to configure a simulation of robotic manipulation.  ...  System Components In this work, we want to simulate the accurate, real-time dynamics of physical hardware (a manipulator), with a requirement for flexible and intelligent control actions.  ... 
doi:10.1002/spe.606 fatcat:4kv4nlo6a5fuhp6o44toy4xon4

A versatile toolbox for studying anthropomorphic robot hands

Jorge Nicho, Brent Nowak
2009 2009 IEEE International Conference on Systems, Man and Cybernetics  
In response to these needs, we present the ongoing development of our toolbox with the aim of providing a sufficient number of tools for modeling and simulating tendon-driven anthropomorphic hand mechanisms  ...  Recent efforts to develop virtual environments for the study of robot hands and grasping have been limited.  ...  It incorporated a real-time collision detection system that prevented objects from passing through others during the animation.  ... 
doi:10.1109/icsmc.2009.5346855 dblp:conf/smc/NichoN09 fatcat:z72lju4s5ve6tolyt5zg6bbp3e

Virtual reality trajectory of modified PUMA 560 by hybrid intelligent controller

Yousif I. Al Mashhadany
2020 Bulletin of Electrical Engineering and Informatics  
The whole proposed hybrid controller model was simulated and reproduction by MATLAB Version 2019b and Robotic system Toolbox 9.  ...  This paper proposes a design for virtual reality (VR) of modified PUMA 560 by hybrid controller between adaptive neuro fuzzy inference system (ANFIS) controller and fractional order proportional, integral  ...  ANIMATION MODEL FOR THE MODIFIED PUMA 560 ROBOT VRML is one of the most important design programs for 3D objects, coordinating their input and controlling their output based on real physical hypotheses  ... 
doi:10.11591/eei.v9i6.2579 fatcat:pjwmqxbgbngrjo44fbz3cd6coe

Optimizing the Approach to the Extreme Retrieval Mission for BYU Mars Rover

Chung Shan Liao, Riley Johnson, Derek Vasquez
2020 Zenodo  
A genetic algorithm succeeds in identifying the proper voltage for each of the six wheels to maintain constant velocity over changing terrains, and a constrained gradient-based optimizer identifies the  ...  These results allow for added versatility during the University Rover Challenge.  ...  University and a member of the BYU Mars Rover team. Chung Shan's research focus on control systems, robotics, and compliant mechanisms.  ... 
doi:10.5281/zenodo.3753366 fatcat:hrmfcegk3nblzizzj5n6mru46y

Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson, Nabil Derbel
2011 Journal of Robotics  
A real-time software simulator is developed to visualize the robot manipulators coordination.  ...  This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators.  ...  The proposed controller relies principally on a consensus algorithm for systems modeled by nonlinear second-order dynamics and applies the algorithm for the synchronization control problem by choosing  ... 
doi:10.1155/2011/652785 fatcat:urpicwfeovcinc7ksag6xwzevm

The machine vision toolbox - A MATLAB toolbox for vision and vision-based control

P.I. Corke
2005 IEEE robotics & automation magazine  
His research activities span machine vision, visionbased robot control, field robotics (with a focus on mining applications), and sensor networks.  ...  Corke is the research director of the Autonomous Systems Laboratory within the CSIRO Information and Communications Technology (ICT) Centre, in Brisbane, Australia.  ...  Acknowledgments Some MEX files are based on code that was part of the package VISTA (copyrighted 1993 and 1994 by the University of British Columbia, Canada).  ... 
doi:10.1109/mra.2005.1577021 fatcat:5mlqsc6mbbazfm5emxgbkpr5qi

Modeling and development of a five DoF vision based remote operated robotic arm with transmission control protocol

Shahriar Rahman Fahim, Yeahia Sarker, Subrata K. Sarker
2020 SN Applied Sciences  
This paper depicts a remote vision-based manual motion control of five degrees of freedom (DoF) articulated industrial robotic arm intended for teleoperation.  ...  The robotic system considered in this study is a fixed base robotic system where the position of the robotic manipulator is determined by the operator.  ...  The novelty of this work is to model and develop a remote vision-based robotic manipulator with a highspeed data communication rate.  ... 
doi:10.1007/s42452-020-3039-y fatcat:nrx3k7cynjecbfrlexjbdqd6ha
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