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Robot kinematics

About: Robot kinematics is a research topic. Over the lifetime, 18145 publications have been published within this topic receiving 308096 citations.


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Proceedings ArticleDOI
24 Apr 2000
TL;DR: A probabilistic approach for the coordination of multiple robots which, in contrast to previous approaches, simultaneously takes into account the costs of reaching a target point and the utility of target points.
Abstract: In this paper we consider the problem of exploring an unknown environment by a team of robots. As in single-robot exploration the goal is to minimize the overall exploration time. The key problem to be solved therefore is to choose appropriate target points for the individual robots so that they simultaneously explore different regions of their environment. We present a probabilistic approach for the coordination of multiple robots which, in contrast to previous approaches, simultaneously takes into account the costs of reaching a target point and the utility of target points. The utility of target points is given by the size of the unexplored area that a robot can cover with its sensors upon reaching a target position. Whenever a target point is assigned to a specific robot, the utility of the unexplored area visible from this target position is reduced for the other robots. This way, a team of multiple robots assigns different target points to the individual robots. The technique has been implemented and tested extensively in real-world experiments and simulation runs. The results given in this paper demonstrate that our coordination technique significantly reduces the exploration time compared to previous approaches.

798 citations

Proceedings ArticleDOI
13 Dec 1995
TL;DR: A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory and can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture.
Abstract: A dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory. Moreover, this control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture. A general structure for controlling a mobile robot results that can accommodate different control techniques ranging from a conventional computed-torque controller, when all dynamics are known, to adaptive controllers.

787 citations

Journal ArticleDOI
TL;DR: A new method is introduced for synthesizing kinematic relationships for a general class of continuous backbone, or continuum, robots that enable real-time task and shape control by relating workspace (Cartesian) coordinates to actuator inputs, such as tendon lengths or pneumatic pressures, via robot shape coordinates.
Abstract: We introduce a new method for synthesizing kinematic relationships for a general class of continuous backbone, or continuum , robots. The resulting kinematics enable real-time task and shape control by relating workspace (Cartesian) coordinates to actuator inputs, such as tendon lengths or pneumatic pressures, via robot shape coordinates. This novel approach, which carefully considers physical manipulator constraints, avoids artifacts of simplifying assumptions associated with previous approaches, such as the need to fit the resulting solutions to the physical robot. It is applicable to a wide class of existing continuum robots and models extension, as well as bending, of individual sections. In addition, this approach produces correct results for orientation, in contrast to some previously published approaches. Results of real-time implementations on two types of spatial multisection continuum manipulators are reported.

780 citations

Journal ArticleDOI
01 Oct 2000
TL;DR: An adaptive extension of the kinematic controller for the dynamic model of a nonholonomic mobile robot with unknown parameters is proposed, and a torque adaptive controller is derived by using the k cinematic controller.
Abstract: A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented (Fierro and Lewis, 1995). In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller.

771 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202335
2022162
2021402
2020543
2019582
2018901