This paper presents an approach for applying a dual quaternion hand– eye calibration algorithm on an endoscopic surgery robot. Special focus is on robustness, since the error of position and orientation data provided by the robot can be large depending on the movement actually executed. Another inherent problem to all hand–eye calibration methods is that non–parallel rotation axes must be used;...

In this paper, new sufficient conditions for safe motion/force tracking control of robotic systems under unknown environment are proposed. The asymptotic stability conditions are proved using a Lyapunov impedance approach and the relationship between the error dynamics of the robotic system and its energy. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the s...

in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...

designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. for this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...

The study presented in this paper explored the relationships between participant personality, perceived robot personality and preferences for particular robot appearances. The participants (N=77) watched 3 videos of a HRI situation in which the appearance of the robot was altered to appear more or less anthropomorphic. Participant personality was assessed using the Big Five Domain Scale, while ...

This work describes a control method for the stable accommodation of contact forces! when the robot interacts with the environment. In robotic deburring, for example, the robot endpoint is constrained by the the part to be deburred (7,8). After defming unstructured models (input-output relationships) for both the robotic and environment subsystems, we combine them to obtain a general, nonlinear...

A practical architecture, using a four-bar-linkage, is considered for the University of Minnesota direct drive robot [8]. This staticallybalanced ~t drive robot has been constructed for stability analysis of the robot in constrained manipulation [5 -7]. As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers were ...

Much research on two-wheeled robots has been completed in the past decade, but robot stability in low-traction environments has not yet been considered. A model for the two-wheeled robot including wheel slip effects is derived. A wheel slip dependent friction model is used to simulate two low-traction surfaces: the first has characteristics similar to ice and the second is frictionless, in addi...