相关论文: Robot Manipulator Control with Inverse Kinematics …
The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not…
Recent advances in robotics and autonomous systems have broadened the use of robots in laboratory settings, including automated synthesis, scalable reaction workflows, and collaborative tasks in self-driving laboratories (SDLs). This paper…
This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…
It is a common problem in robotics to specify the position of each joint of the robot so that the endpoint reaches a certain target in space. This can be solved in two ways, forward kinematics method and inverse kinematics method. However,…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Motion planning schemes are used for planning motions of a manipulator from an initial pose to a final pose during a task execution. A motion planning scheme generally comprises of a trajectory planning method and an inverse kinematic…
Tracking Cartesian motion with end~effectors is a fundamental task in robot control. For motion that is not known in advance, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses.…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
For robots to move in the real world, they must first correctly understand the state of its own body and the tools that it holds. In this research, we propose DIJE, an algorithm to estimate the image Jacobian for every pixel. It is based on…
In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…
This paper uses Model Predictive Control (MPC) to optimise the input torques of a Three-Degrees-of-Freedom (DOF) robotic arm, enabling it to operate to the target position and grasp the object accurately. A monocular camera is firstly used…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
Tendon-driven anthropomorphic robotic hands often lack direct joint angle sensing, as the integration of joint encoders can compromise mechanical compactness and dexterity. This paper presents a computational method for estimating joint…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…