State estimation of a flexible industrial manipulator is presented using experimental data. The problem is formulated in a Bayesian framework where the extended Kalman filter and particle filter are used. The filters use the joint positions on the motor side of the gearboxes as well as the acceleration at the end-effector as measurements and estimates the corresponding joint angles on the arm s...

Search algorithms such as Rapidly-exploring Random Trees (RRTs) are common in robot programming. Including graphical representations of the output of these algorithms in a robotics framework can make the algorithms more accessible to students, and can also help programmers analyze and account for unexpected results. For this project, we used the Tekkotsu open source robot programming framework,...

Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spi...

In robotic radiosurgery, a photon beam source, moved by a robot arm, is used to ablate tumors. The accuracy of the treatment can be improved by predicting respiratory motion to compensate for system delay. We consider a wavelet-based multiscale autoregressive prediction method. The algorithm is extended by introducing a new exponential averaging parameter and the use of the Moore-Penrose pseudo...

A robot arm/manipulator finds its applications in variety of areas to takeaway the processes which are repetitive, highly multifaceted and perilous, destructive or of high-precision in its nature. Robot manipulators are intended to use in object sorting applications because of its high accuracy and precision operation. Robot manipulator shows many advantages when it is networked and automated w...

Redundant robots have received increased attention during the last decades, since they provide solutions to problems investigated for years in the robotic community, e.g. task-space tracking, obstacle avoidance etc. However, robot redundancy may arise problems of kinematic control, since robot joint motion is not uniquely determined. In this paper, a biomimetic approach is proposed for solving ...

Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robotarms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle...

In assistive robotics, a manipulator arm constitutes one possible solution for restoring some manipulation functions to victims of upper limb disabilities. The aim of this paper is to present a global strategy of approach of an assistive mobile manipulator (manipulator arm mounted on a mobile base). A manipulability criterion is defined to deal with the redundancy of the system. The aim is to k...

This paper presents a novel and generic reactionless visual servo controller for a satellite-based multi-arm space robot. The controller is designed to complete the task of visually servoing the robot’s end-effectors to a desired pose, while maintaining minimum attitude disturbance on the base-satellite. Task function approach is utilized to coordinate the servoing process and attitude of the b...

As robots begin to permeate the everyday human workspace to collaborate in innumerable and varied tasks, the robotic structure must adhere and replicate human-like gestures for effective interaction. Whether rehabilitation or augmentation, upper arm human-robot interaction is some of the most prevalent and investigated forms of collaboration. However, currently robotic control schemes fail to c...