Juniper Publishers-Journal of Robotics Engineering

Robust Control Strategy of Human Assistant Robot Authored by Magdi S Mahmoud, Human assistant robot is a humanoid type robot which consists of a body with waist joint, arms designed for safety and a wheeled inverted pendulum mobile platform. The equation of motion is derived considering the non-holonomic constraint of the two-wheeled mobile robot with parameter uncertainties. A robust state feedback control method is applied for basic mobile controls wherein the control gain is calculated by linear quadratic control with proportional plus integral gain (LQRI). Through several experiments of balancing, linear running, and steering, it was confirmed that the robot could realize stable mobile motion in a real environment by the developed controller. For more open access journals in Juniper Publishers please click on: https://juniperpublishers.com For more open access journals on Journal of Robotics & Automation Engineering please click on https://juniperpublisher

A Review on the Kinematic Simulation and  Analyses of Parallel Manipulators Authored by Arockia Selvakumar Arockia Doss, This paper presents a detailed background of the simulation and kinematics of 3 Degrees of Freedom (DOF) Parallel Manipulators (PMs). In this work, the recent literature about the kinematic analysis, kinematic synthesis, workspace, singularity and velocity and acceleration analyses of various kinds of parallel manipulators are reviewed. This survey also focuses on the development of PMs. The various approaches adopted in the kinematic analyses are reviewed and their adoptions in the PMs are discussed. The novel design and analysis perspectives of 3-DOF parallel manipulators in general are recommended. To read more… Full Text in Robotics & Automation Engineering Journal  in Juniper Publishers

A Comparison of Dual-Kinect and Vicon Tracking of Human Motion for Use in Robotic Motion Programming Authored by Singhose W Motion capture systems can acquire human body motion for use in programming robotic applications that mimic human motion. Activities such as traffic control and aircraft marshalling could be automated using robots that replicate realistic human motions. In order to develop such robotic systems, natural human motion must be studied and parameterized. Microsoft Kinect V2 is a non-invasive, low-cost camera primarily used in the video gaming industry which can be used for human motion analysis. This study evaluates the joint-tracking abilities of a dual-Kinect system and compares it to a Vicon 3D Motion Capture system. The dual-Kinect system provides robust and accurate tracking of complex upper-body motions. To read more… Full Text in Robotics & Automation Engineering Journal   in Juniper Publishers

Robot Behavioral Mapping: A Representation that Consolidates the Human-robot Coexistence Authored by Ioannis Kostavelis The paper at hand aims to introduce for the first time the concept of robot behavioral mapping, which is an amalgamated environment and human representation suitable for long term navigation planning, task scheduling and decision making. The robot perception mechanisms comprised the cornerstone for metric and semantic mapping, which gave thrust to the development of robots capable of apprehending the operational environment in a human compatible manner. Yet, safety is a mandatory ingredient for the human-robot cohabitation and, thus, social mapping became a momentous element in the robotics community, where the human presence is modeled along with the environment. To read more… Full Text in Robotics & Automation Engineering Journal  in Juniper Publishers

Linear Algebra Continuous Dynamic Control for WMR Authored by Sebastian  Godoy A trajectory tracking controller for wheeled mobile robot (WMR) is presented in this paper. The approach is based on the dynamic model of a nonholonomic mobile robot. The nonlinear dynamic model is used to find the expression of the control actions which make the robot follow a desired trajectory. The methodology for controller design is based in Linear Algebra theory. Experimental results in a Pioneer 3DX mobile robot are presented and compared with other approach of the literature. To read more… Full Text in Robotics & Automation Engineering Journal  in Juniper Publishers

A Practical Map Needs Direct Visual Odometry Authored by Zonghai Chen Contemporary production enterprises operate in conditions, which demand continuous improvement of their activity. Therefore, organization and optimization of the realized production processes becomes a more essential problem. That is why it is necessary to use different modern methods and tools aiding production. The digital factory tools can be an effective basis for improving of production systems. Thanks to computer simulation of virtual production systems it is possible to check if the modeled future solution (improvement of the present production system) fulfils the defined requirements. However, it makes possible to find the best improvement variant of the analyzed system in a quicker way. To read more… Full Text in Robotics & Automation Engineering Journal   in Juniper Publishers

Organization of Production Systems with the Use of Digital Factory Tools Authored by Dariusz Plinta Contemporary production enterprises operate in conditions, which demand continuous improvement of their activity. Therefore, organization and optimization of the realized production processes becomes a more essential problem. That is why it is necessary to use different modern methods and tools aiding production. The digital factory tools can be an effective basis for improving of production systems. Thanks to computer simulation of virtual production systems it is possible to check if the modeled future solution (improvement of the present production system) fulfils the defined requirements. However, it makes possible to find the best improvement variant of the analyzed system in a quicker way. To read more… Full Text in Robotics & Automation Engineering Journal  in Juniper Publishers

Yokel: Extensible, Large-Scale Methodologies Authored by Edgard Perindans The implications of perfect modalities have been far-reaching and pervasive. Here, we prove the analysis of replication, which embodies the structured principles of programming languages. Our focus in this paper is not on whether information retrieval systems can be made adaptive, secure, and reliable, but rather on constructing new Bayesian configurations (Yokel). To read more ... Full Text in Robotics and Automation Engineering Journal in Juniper Publishers

Robust Adaptive Sliding Mode Control for Mobile  Manipulators Authored by Mohamed Boukattaya This paper proposes a robust adaptive sliding mode control for the trajectory tracking of a nonholonomic wheeled mobile manipulator in task space coordinate. The proposed algorithm is robust adaptive control strategy where parametric uncertainties and disturbances are compensated by adaptive update technique. The adaptive law is designed based on the Lyapunov method. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive based controller in comparison with a robust sliding mode-based controller. To read more … Full Text in   Robotics and Automation Engineering Journal in Juniper Publishers