In this report we describe the JANUS robot project in terms of the maxims followed at the various levels of construction. The project involves designing a two-armed robot which operates in an open system. To make this possible it must have exibility and heterogeneity in its architecture. The key ingredients of JANUS are presented in the form of seven fundamental principles. These principles giv...

W e present a motion planning/control system that deals with moving obstacles whose trajectories are not known a priori. A n artificial potential field planner i s tightly coupled with a robust inverse dynamic controller, allowing the robot t o avoid obstacles in realtime while retaining the benefits of inverse dynamic control. Our implementation of the artificial potential field planner uses d...

This project focuses on detecting a tomato in a kitchen environment and grabbing it from the table. The ROS framework is used for the implementation of this project. Three detection algorithms are discussed to best detect the tomato. Also a localization algorithm is defined to determine the location of the tomato. The ROS library MoveIt is used for its inverse kinematics to grab the tomato from...

This paper addresses the problem of electronic emulation of both linear and nonlinear mechanical loads using a vector-controlled induction machine dynamometer. It is shown that a basic emulation scheme where the dynamometer torque demand is derived from the inverse dynamics of the emulated load is not generally viable, especially if the emulated load is part of a closed-loop speed control syste...

In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. To do so, the end-effector pose has to be measured with the utterst accuracy. Thus, we first evaluate the practical accuracy of ou...

We present a neural network method to calibrate automatically a commercial robot after undergoing wear or damage, which works on top of the nominal inverse kinematics embedded in its controller.

A robot arm is the combination of links and joints in the form of a chain with one end is fixed while the other end is free. The joints are either prismatic or revolute, driven by actuators. In order to move the free end, also called the end effector, along a certain path, most, if not all, of the joints are to be moved. In doing so it is necessary to solve the inverse kinematics equation. In t...

Inverse scattering series is the only nonlinear, direct inversion method for the multidimensional, acoustic or elastic equation. Recently developed techniques for inverse problems based on the inverse scattering series [Weglein et al., Geophys., 62 (1997), pp. 1975–1989; Top. Rev. Inverse Problems, 19 (2003), pp. R27–R83] were shown to require two mappings, one associating nonperturbative descr...

In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. With a precision of the order of magnitude of 0.2mm and 0.03◦, our vision system allowed us to obtain a final positioning accuracy...