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1 adaptive control of parallel kinematic manipulators: Design and real-time experiments
2015 Edition, May 1, 2015 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, the recently developed ℒ1 adaptive control strategy is experimentally validated for the first time on a parallel kinematic manipulator. The ℒ1 adaptive controller is known for its decoupled estimation and control loops...

Toward parallel continuum manipulators
2014 Edition, May 1, 2014 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, we investigate continuum manipulators that are analogous to conventional rigid-link parallel robot designs. These "parallel continuum manipulators" have the potential to inherit some of the compactness and compliance of continuum...

A novel adaptive terminal sliding mode control for parallel manipulators: Design and real-time experiments
2017 Edition, May 1, 2017 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper deals with the design of a new robust adaptive controller for parallel manipulators based on sliding mode and modelbased adaptive control. More precisely, the proposed controller relies on continuous finite-time terminal...

Development of a Motion Sensing System based on Visual Servoing of an Eye-in-hand Electrohydraulic Parallel Manipulator
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

The design and implementation of a real-time object motion sensing and trajectory replicating system, dependent on the image-based visual servoing capabilities of an electrohydraulic eye-in-hand parallel manipulator has been described...

Kinematic optimization for isotropic stiffness of redundantly actuated parallel manipulators
2011 Edition, May 1, 2011 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

A kinematic optimization procedure for redundantly actuated parallel manipulator is developed to ensure the isotropic antagonistic stiffness in a workspace. The kinematic parameters of the mechanism are optimized to maximize and equal out antagonistic...

Design of kinematic controller for real-time vision guided robot manipulators
2014 Edition, May 1, 2014 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper discusses the control strategies for robot manipulators to track moving targets based on realtime vision guidance. The work is motivated by some new demands of vision guided robot manipulators in which the workpieces being manipulated are in complex...

Real-time Joint Angular-Acceleration Planning for Vision-based Kinematically Redundant Manipulator in Dynamic Environment
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper presents an angular acceleration planning for joint configuration spaces of vision-based kinematically redundant robot manipulators to achieve real-time tracking tasks in dynamic environment. In accordance with the proved proposition, the joint velocity...

Suspension-Based Locking Protocols for Parallel Real-Time Tasks
2019 Edition, December 1, 2019 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Suspension-based locks are widely used in realtime systems to coordinate simultaneous accesses to exclusive shared resources. Although suspension-based locks have been well studied for sequential real-time tasks, little work has been done on this topic for parallel...

Scheduling and Analysis of Parallel Real-Time Tasks with Semaphores
2019 Edition, June 1, 2019 - Association for Computing Machinery (ACM)

This paper for the first time studies the scheduling and analysis of parallel real-time tasks with semaphores. In parallel task systems, each task may issue multiple requests to a semaphore, which raises new challenges to the design and...

A memetic evolutionary algorithm for real-time articulated kinematic motion
2017 Edition, June 1, 2017 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Solving kinematic motion is a challenging field of research which is relevant for various applications in character animation and robotics. This paper presents a novel and fast hybrid evolutionary algorithm for inverse kinematics which can handle fully constrained...

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