Component Feature Model of Robot Tasks.

Feature Extraction and Grouping for Robot Vision Tasks

Optimal discrete-time control of robot manipulators in repetitive tasks

Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...

optimal discrete-time control of robot manipulators in repetitive tasks

optimal discrete-time control of linear systems has been presented already. there are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. this paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. the robot performs repetit...

Randomization in Robot Tasks

This article explores the role of randomization in the solution of robot manipulation tasks. Randomization refers to the random selection and execution of an action from a collection of possible actions. The intention is that this collection contains some actions that are useful for making progress toward accomplishing a task, but that the precise identity of these useful actions is unknown. Ra...

Model Predictive Disturbance Rejection during Cooperative Mobile Robot Assembly Tasks

This paper addresses the problem of disturbance compensation for the successful assembly of structures by mobile field robots. A control architecture, consisting of a linear PID joint controller with model predictive feed-forward compensation for mobile base motions and interactive-force disturbance rejection is discussed. Object insertion is achieved by predicting environment-object contact st...