A new approach to eye-in-hand image-based visual servoing based on fuzzy modeling and control is proposed in this paper. Fuzzy modeling is applied to obtain an inverse model of the mapping between image features errors and joints velocities, avoiding the necessity of inverting the Jacobian. An inverse model is identified for each trajectory using measurements data of a robotic manipulator, and ...

This paper presents a Nonlinear Model Predictive Control (NMPC) for redundant robotic manipulators. Using NMPC, the end-effector of the robotic manipulator tracks a predefined geometry path in Cartesian space in such a way that no collision with obstacles in the workspace and no singular configurations for the robot occurs. Nonlinear dynamic of the robot, including actuators dynamic, is also co...

A new approach to eye-in-hand image-based visual servoing based on fuzzy modeling and control is proposed in this paper. Fuzzy modeling is applied to obtain an inverse model of the mapping between image features velocities and joints velocities, avoiding the necessity of inverting the Jacobian. An inverse model is identified for each trajectory using measurements data of a robotic manipulator, ...

A nonlinear programming approach for the optimal motion planning of robotic manipulators is presented. In this approach a standard optimal control problem of infinite dimensionality (in time) is converted into an optimization problem of finite dimensionality by approximating the manipulator trajectories by the sum of a polynomial and a set of appropriate eigenfunctions. The optimal control prob...

This study presents a synthesis scheme on a target history for the simultaneous control of position and vibration of a space robotic manipulator with a flexible arm. As an essential problem in the manipulator with a flexible arm, its vibration is easily induced by self-motion and external disturbance. Therefore, in this study, the authors develop the long, lightweight and forceful manipulator f...

In a novel shield tunneling method, the tunnel lining is produced by an extrusion process with continuous shield advance. A robotic manipulator is used to build the tunnel supporting formwork, consisting of rings of steel segments. As the shield of the tunnel-boring machine advances, concrete is continuously injected in the space between the formwork and the surrounding soil. This technology re...

This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-Arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming the forward kinematics are known and that it is possible to solve for the remaining j...

OBJECTIVE To present the auditory implant manipulator, a navigation-controlled mechanical and electronic system which enables minimally invasive ('keyhole') transmastoid access to the tympanic cavity. MATERIALS AND METHODS The auditory implant manipulator is a miniaturised robotic system with five axes of movement and an integrated drill. It can be mounted on the operating table. We evaluated...

The field of industrial robotics can be defined as the study, design and use of robot systems for manufacturing. Although the problem of designing a controller for industrial robots has been the subject of intensive study, a number of assumptions are usually made which may seriously limit the applicability of these robots. First, the robotic manipulator is usually considered to be positioned at...

In this paper, an eficient dynamic simulation algori thm is developed f o r an unmanned underwater vehicle (ULJV) with a robotic manipulator. It is based on an eficient O ( N ) algorithm where N is the number of links in the manipulator, and has been extended to include the full effects of a mobile base and various hydrodynamic forces that are ezerted on these systems in underwater environments...