Presented is a partitioned controller for visually servoed tracking of objects using both image and the kinematic data. The resulting design shows remarkably similar performance to vision systems in biology. For example, people coordinate their eyes, head and body when tracking a moving target. Likewise, this controller couples a robot's degrees-of-freedom to point a camera at a moving target. ...

A 2-Degrees of freedom powered prosthetic wrist actuator has been proposed that can provide the Abduction/Adduction & Flexion/Extension movements of the human wrist. The basic structure of the actuator is a Ball and Socket joint and the force is transmitted from the DC geared servo motors to the joint through the Bowden cables. The proposed design is capable of providing the required DOF in bot...

A bond graph model of a two degrees of freedom PUMA is described. System inversion gives the system input required to generate a given system output. In order to get the system inversion of the PUMA manipulator, a linearization of the nonlinear bond graph is obtained. Hence, the bicausality of the linearized bond graph of the PUMA manipulator is applied. Thus, the bicausal bond graph provides a...

An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented. The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm...

This work deals with the design, the implementation and the experimental validation of a forcereflecting teleoperation architecture for robotic assisted endoluminal surgery. On that account, a meso-scale surgical robot was used as target device to be teleoperated. This mesorobot was developed during the ARAKNES (Array of Robots Augmenting the Kinematics of Endoluminal Surgery) FP7 project, in w...

This paper examines the differences between author generated keywords and automatically generated keywords in one area of scientific and technical literature. Using inverse frequency, keywords produced using both methods are examined using a maximum likelihood algorithm. By reducing the scope and size of the corpus of literature examined, this study more closely emulates the information gatheri...

We study the role of pricing in Differentiated Services (DiffServ) networks. We model DiffServ as a priority service, where users are given the freedom to choose the priorities of their traffic, but are charged accordingly. Using a game theoretic framework, we study the case where users choose an allocation of priorities to packets in order to optimize their net benefit. For the case where user...

Based on the study of the mature institutions at home and abroad, was carried out on the mechanical arm kinematics analysis, established the link coordinate system, the link parameters based on D H method to establish the kinematics equation, both the simulation results and the experiment we verified its feasibility. Using robotics toolbox toolbox of Matlab software, kinematics simulation of ro...

Abstract— A fundamental problem for control engineers is that of output tracking. The earlier approaches are restricted to certain classes of systems precluding the presence of zeros from certain regions in the complex plane, and do not reasonably take into account process and measurement noise. A technique to achieve output tracking applicable to non-minimum phase linear systems is presented w...