this paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. fuzzy logic control (flc) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  on the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

The demand for minimal invasive surgery (MIS) with more rapid patient recovery creates an increasing need of high-performance technology, based on computerassisted orthopedic surgery (CAOS) with access to robot assistance. Medical Robotics has developed a multi-application platform – PinTrace – based on robot assistance. The PinTrace method is in initial clinical use for hip fractures and furth...

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

In this paper, the problem of achieving high accuracy positioning of a medical robot is studied. The Northeast Proton Therapy Center, at the Massachusetts General Hospital, is a new cancer research and treatment facility. A major component of the center is a robotic patient positioning system that will carry and position patients in a proton beam. The desired positioning accuracy of the robot i...

in this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. the robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (sns) toward the goal. in the case of no obstacle, sns was a direct path from the robot to goal; however, in the presence of obstacles, sns was a space around the r...

The present study deals with a robot safety system composed of standby robot units and inbuilt safety unit. When the main operative unit fails, it is replaced by the standby robot unit available in the system. The concept of reboot delay is also incorporated in this study according to which the robot unit is rebooted if it is not successfully recovered. The recovery and reboot times of failed u...

Mobile mechanical manipulators are one of the automation aspects which were revealed in last years of twentieth century. These machines assume the responsibility of human and gradually expand the domain of their activities in industry. This paper is a presentation of the Sweeper Robot designed in the Robotic Laboratory of Iran University of Science and Technology. The original design of this ro...