In this paper we present a system for catching a flying ball with a robot arm using off-the-shelf components (PC based system) for visual tracking. The ball is observed by a large baseline stereo camera, comparing each image to a slowly adapting reference image. We track and predict the target position using an Extended Kalman Filter (EKF), also taking into account the air drag. The calibration...

In this paper, we present a new method for humanoid robot arm motion planning satisfying multiple constraints. In our method, the humanoid robot arm motion generation is formulated as an optimization problem. Four different constraints, which cover a wide range of humanoid robot tasks, are considered: minimum time, minimum distance, robot hand acceleration and constant joint angular velocity. R...

Robot vision is usually based on well-calibrated system in which the large numbers of calibration parameters cause error-prone and imprecise behaviour of the system. The fact that humans use a visual feedback intuitively initiated efforts to develop the robot control system based on agents for 3D control of robot arm without calibration. Using the simulator of 3-segment robot arm, the operators...

The focus of this work is to design, develop and implement enhanced control and competitive robot arm thick and short cost. Design of four degree of freedom and talent of robot arm is to complete the accurate and simple tasks, such as optical materials processing, will be integrated into the mobile platform, as an assistant for the industrial labor force. Between the robot arm equipped with wea...

When a robot arm(s) conducts some tasks on a satellite, the satellite attitude stability is necessary against the robot arm's motion to maintain the communication link and to generate electrical power from the solar panel(s). However the reaction from the robot arm is much stronger than the natural environmental disturbance torque that the traditional satellite attitude control system cares. Na...

obviously navigation is one of the most complicated issues in mobile robots.intelligent algorithms are often used for error handling in robot navigation. thispaper deals with the problem of inertial measurement unit (imu) error handling byusing extended kalman filter (ekf) as an expert algorithms. our focus is put onthe field of mobile robot navigation in the 2d environments. the main challenge...

In modern manufacturing, robot arms are used in automated production, replacing humans to avoid risk, increase efficiency, and improve accuracy. Fixed robot arm technology is very well-developed worldwide. In our project, we designed a smart robot to expand the applications for which robot arms are traditionally used. The robot arm is installed on an omnidirectional mobile vehicle; a network ca...

This paper deals with the stability of null-space velocity control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on the minimal null-space projection and generalized-inverse-based projection into the Jacobian nullspace. We show how the null-space projection affects the performance of the null-space tracking algorithm. Th...