Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

A simple easy to implement algorithm is proposed to address wall tracking task of an autonomous robot. The robot should navigate in unknown environments, find the nearest wall, and track it solely based on locally sensed data. The proposed method benefits from coupling fuzzy logic and Q-learning to meet requirements of autonomous navigations. Fuzzy if-then rules provide a reliable decision maki...

This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...

a general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. the robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. the curvatures in pipeline are the most important constraints in front of the robot through navigation process. to study the adapt...

BACKGROUND Robotic telepresence has been used for outsourcing of healthcare services for more than a decade; however, its use within an academic medical department is not yet widespread. Intensive care unit (ICU) robots can be used to increase access to off-site supervising physicians and other specialists, reducing possible wait time for difficult admissions and procedures. OBJECTIVE To stud...

Abstract The world is currently alert to the spread of a virus known as coronavirus. Corona Virus or Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) collection viruses that can infect human system until death. very fast and easy just by coming in contact with sufferers it has contaminated almost all countries. For places prone being exposed viruses, especially isolation rooms for C...