Robot kinematics

This paper describes a Virtual Reality (VR) based system for automating data collection and surveying in a retail store using mobile robots. The manpower cost for surveying and monitoring the shelves in retail stores are high, because of which these activities are not repeated frequently causing reduced customer satisfaction and loss of revenue. Further, the accuracy of data collected may be improved by avoiding human related factors. We use a mobile robot platform with on-board cameras to monitor the shelves either autonomously or through tele-operation. A remote operator can control the robot from a console which shows a 3D of view of the store as well as, capture real images and videos of the store. The robot is designed to facilitate automatic detection of Out-of-Stock (OOS) situations. It would be possible for a single operator to control multiple robots placed at different stores thus optimizing the available resources. As the deployment of the proposed system does not require...

Cooperative mobile robots have recently been gaining importance within the field of robotics. It's been proven that collaborative robots can do tasks in a faster and more reliable manner than a single robot can. Additionally, recent advances in distributed coordination algorithms have dramatically improved the feasibility and suitability of cooperative approaches. This has lead researchers to develop Inter-robot communication frameworks. While several frameworks have been introduced, one of the most common is the Service-Oriented Architecture (SOA). However, the suitability of SOA for collaborative robotic communication has not been fully evaluated. In this paper we evaluate the SOA from an overhead perspective against non service-based architectures in a wireless environment. Our evaluation is based on performance suitability, which is determined by measuring throughput and delay for different numbers of mobile robots sharing real time data.

The basic principles in engineering mechanics and robotic courses such as kinematics or rotation matrices have the reputation of being difficult and primarily of academic interest. Thus many students consider those courses simply as annoying prerequisites to subsequent engineering courses, resulting in low levels of motivation. But instead of repeating the same topic over and over, a student-centered learning unit is presented. In the new developed study course the experimental work exemplifies the practical benefit of seemingly abstract concepts using the humanoid NAO robot, solving tasks, e.g. the “throwing of a ball”. This simple “human activity” is a complex programming task in humanoid robotics, considering not only the construction, the static and the dynamic stability of the robot but also planning the robot’s behaviour and the human-robot interaction.

Utilizing robots does not only enhance the acquisition of subject-related knowledge, but also fosters meta-disciplinary competences like spatial sense, logical reasoning, and self-learning ability. Finally, the robot-enhanced learning unit allows for an individualization of the learning process, increasing students' involvement and motivation. The presented learning unit is student-centered in the sense that participants construct an understanding of the covered material in an active, collaborative way following the famous saying “Tell me, and I will forget. Show me, and I may remember. Involve me, and I will understand”, occasionally attributed to Confucius. The experiences gained in the presented study course facilitates the development of an interactive learning tool with respect to gender and diversity aspects.

This paper presents a new solar arrays deployment mechanism for space applications. It consists of a modular kinematic structure, which is operated by a single cable (1 DoF). Compared to traditional methods, this mechanism has the advantage of being reversible in the movement. Kinematic analysis of the mechanism is carried out in this work, as well as static analysis. They allow to define the main actuation parameters such as cable pull tension and spring stiffness. Moreover, suitable values for the mechanism parameters are computed by means of a dedicated algorithm.

Due to its environmental, economical and safety implications, methane leak detection is a crucial task to address in the biogas production industry. In this paper, we introduce Gasbot, a robotic platform that aims to automatize methane emission monitoring in landfills and biogas production sites. The distinctive characteristic of the Gasbot platform is the use of a Tunable Laser Absorption Spectroscopy (TDLAS) sensor. This sensor provides integral concentration measurements over the path of the laser beam. Existing gas distribution mapping algorithms can only handle local measurements obtained from traditional in-situ chemical sensors. In this paper we also describe an algorithm to generate 3D methane concentration maps from integral concentration and depth measurements. The Gasbot platform has been tested in two different scenarios: an underground corridor, where a pipeline leak was simulated and in a decommissioned landfill site, where an artificial methane emission source was int...

In this study, a Best First Search (BFS) Based Intelligent PID Tuning Method is proposed for a mobile robot path tracking problem. BFS is an informed search strategy in Artificial Intelligence (AI). It has been used in many areas of intelligent systems. Here, it is used to search values of both ultimate period and ultimate gain of Ziegler-Nichols (ZN) PID Tuning Method. So, using these ultimate period and gain, PID parameters can be c from tables of ZN method. The performance measure in this problem is described as minimizing total error during any specified trajectory tracking. Thus the proposed method does not depend on the system model. It only needs error information during the tracking control. So, this method can be used to tune PID parameters of any tracking controller for a system with unknown system dynamics. The proposed method is tested with simulations in MATLAB during trajectory tracking of a mobile robot. In addition, it is compared with classical PID and conventional PID tuning methods including Ziegler-Nichols method, Tyreus-Luyben method, and Shinskey method.

Keywords: Intelligent PID tuning, best first search, autonomous mobile robot, mobile robot path tracking problem, computed torque PID control, dynamic model, Ziegler-Nichols, Tyreus-Luyben, Shinskey.

This paper proposes a simple, reactive algorithm for real time obstacle avoidance, aimed to be implemented on low cost, low power microcontrollers. According to this algorithm, the robot reacts to obstacles detected within an area called “sensitivity bubble”, whose shape and size are dynamically adjusted, depending on the kinematics of the robot. Upon detection of an obstacle, the robot “rebounds”

In this project we are brougth to construct a unicycle robot to control it. using the cinematic modeling of the unicycle robot under MATLAB / SIMULINK we succeeded to characterize and enslave our system while controlling it in speed and CAP. Then, using the graphical interface V-REP we developed the prototype of the robot. Then we succeeded in communicating the environment MatlAb / Simulink with the graphical interface V-REP, this allowed us to control our robo
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Si vous avez des questions sur ce travail, n'hésitez pas à me contacter sur mon adresse mail.
If you have any questions about this project, do not hesitate to contact me on my email address

e-mail : iliass.elmouderrib@gmail.com

good reading!

Report from Modelling in Robotics course. Information about KUKA youBot kinematic equations along with the implementation in Simulink is provided. This document pretends to give an idea on how such system should be modeled and a possible implementation.

Abstract— This paper describes the design and development of hexapod robot with three degrees of freedom (3 DOF) at each leg. The system developed is composed of the mechanical assembly, the circuits used to control the servomotors (Digital Signal Controller - DSC) ...

The complexity of walking robots poses a number of control problems due to the large number of degrees of freedom involved in the robot's motion. This work deals with the design of a hexapod robot, whose legs have 3 rotative joints and the same configuration. The kinematics ...

We present an implementation of a reinforcement learning algorithm through the use of a special neural network topology, the AHC (adaptive heuristic critic). The AHC is used as a fusion supervisor of primitive behaviors in order to execute more complex robot behaviors, for example go to goal, surveillance or follow a path. The fusion supervisor is part of an architecture for the execution of mobile robot tasks which are composed of several primitive behaviors which act in a simultaneous or concurrent fashion. The architecture allows for learning to take place at the execution level, it incorporates the experience gained in executing primitive behaviors as well as the overall task. The implementation of this autonomous learning approach has been tested within OPMOR, a simulation environment for mobile robots and with our mobile platform, the UPM Robuter. Both, simulated and actual results are presented. The performance of the AHC neural network is adequate. Portions of this work has been implemented within the EEC ESPRIT 2483 PANORAMA Project

A new technique for three-dimensional (3D) camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses is described. The two-stage technique is aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters. The two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art. A critical review of the state of the art is given in the beginning. A theoretical framework is established, supported by comprehensive proof in five appendixes, and may pave the way for future research on 3D robotics vision. Test results using real data are described. Both accuracy and speed are reported. The experimental results are analyzed and compared with theoretical prediction. Recent effort indicates that with slight modification, the two-stage calibration can be done in real time.

This paper presents a new solar arrays deployment mechanism for space applications. It consists of a modular kinematic structure, which is operated by a single cable (1 DoF). Compared to traditional methods, this mechanism has the advantage of being reversible in the movement. Kinematic analysis of the mechanism is carried out in this work, as well as static analysis. They allow to define the main actuation parameters such as cable pull tension and spring stiffness. Moreover, suitable values for the mechanism parameters are computed by means of a dedicated algorithm.

This paper investigates the inverse and forward
kinematic expressions of a three degrees-of-freedom parallel
mechanism with identical limb structures, performing three
independent rotations. The forward kinematic and constraint
expressions are explored in two different spaces, namely, sevendimensional
kinematic space and Euclidean space. The algorithm
applied to obtain the forward kinematic and constraint
equations in seven-dimensional space, by the means of Study
parameters, is a novel approach which is the so-called linear
implicitization algorithm. Moreover, the working and assembly
modes are computed upon writing the kinematic expression in
Euclidean space.