The mathematics of coordinated control of prosthetic arms and manipulators.

Feel lonely? What about reading books? Book is one of the greatest friends to accompany while in your lonely time. When you have no friends and activities somewhere and sometimes, reading book can be a great choice. This is not only for spending the time, it will increase the knowledge. Of course the b=benefits to take will relate to what kind of book that you are reading. And now, we will concern you to try reading modelling and control of robot manipulators as one of the reading material to finish quickly.

Modelling and Control of Robot Manipulators

Kalman filters have received much attention with the increasing demands for robotic automation. This paper briefly surveys the recent developments for robot vision. Among many factors that affect the performance of a robotic system, Kalman filters have made great contributions to vision perception. Kalman filters solve uncertainties in robot localization, navigation, following, tracking, motion control, estimation and prediction, visual servoing and manipulation, and structure reconstruction from a sequence of images. In the 50th anniversary, we have noticed that more than 20 kinds of Kalman filters have been developed so far. These include extended Kalman filters and unscented Kalman filters. In the last 30 years, about 800 publications have reported the capability of these filters in solving robot vision problems. Such problems encompass a rather wide application area, such as object modeling, robot control, target tracking, surveillance, search, recognition, and assembly, as well as robotic manipulation, localization, mapping, navigation, and exploration. These reports are summarized in this review to enable easy referral to suitable methods for practical solutions. Representative contributions and future research trends are also addressed in an abstract level.

Kalman Filter for Robot Vision: A Survey

We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

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Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

Industry 4.0 (I4.0) encompasses a plethora of digital technologies effecting on manufacturing enterprises. Most research on this topic examines the effects in the smart factory domain, focusing on ...

The applications of Industry 4.0 technologies in manufacturing context: a systematic literature review

Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback

Mixed reality-based user interface for quality control inspection of car body surfaces

This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot's sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.

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Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems

Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

A generic kinematic control, which is directly applicable to any type of wheeled mobile robot, is proposed in this work. Firstly, it is pre- sented the kinematic models of the four common types of wheels (fixed, centered orientable, castor and Swedish) a classification of wheeled mobile robots. Afterwards, it is proposed a kinematic control scheme with three nested loops: dynamic, kinematic and planning. In particular, it is studied in depth the kinematic loop through the position control and the inverse kinematics of wheels. It is also studied indi- rectly the planning loop through the characterization of the references that each type of mobile robot can track with no error. Finally, the kinematic control proposed is applied to an industrial forklift in simu- lation and in a real situation.

Luis Gracia

Papers

Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback

Mixed reality-based user interface for quality control inspection of car body surfaces

Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems

Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

Kinematic control of wheeled mobile robots