In this paper we develop framework for PID stabilization of a robot manipulator when using an object independently or in collaboration with a human arm. Inboth applications, the manipulator is equipped with a wrist sensor represented by an impedance. A second order manipulator transfer function along each coordinate direction is assumed. The aim of the paper is to design a PID controller when m...

A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the p...

Reasoning over bit-vectors arises in a variety of applications in verification and cryptography. This paper presents a bit-vector domain for constraint programming and its associated filtering algorithms. The domain supports all the traditional bit operations and correctly models modulo-arithmetic and overflows. The domain implementation uses bit operations of the underlying architecture, avoid...

This paper studies how well the standard LP relaxation ap-proximates a k-ary constraint satisfaction problem (CSP) on label set[L]. We show that, assuming the Unique Games Conjecture, it achievesan approximation within O(k · logL) of the optimal approximation fac-tor. In particular we prove the following hardness result: let I be a k-aryCSP on label set [L] with constraints ...

In this paper, a general formula for nding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear exible link manipulators is presented. The dynamic model for links in most mechanisms is often based on the small de ection theory but for applications like lightweight links, high-precision elements or high speed it is necessary to capture the de ection caused by nonlinear terms. Fir...

This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-dist...

The tunnel-following nonlinear model predictive control (NMPC) scheme allows to exploit acceptable deviations around a path reference. This is done by using convex-over-nonlinear functions as objective and constraints in the underlying optimal problem (OCP). structure exploited algorithms such generalized Gauss-Newton (GGN) method or sequential convex quadratic programming (SCQP) reduce computa...

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...