Within the last year
Within the past 3 years
1 - 7 of 7 articles
Load-haul-dump units (LHD) are loader-type vehicles that arefre quently employed in the underground mines for transfer of ore from the loading point to ore pass. Because they have to travel in the relatively narrow and restricted underground galleries, they have less height and are narrower than...
In this paper, the authors develop a method for singularity- consistent teleoperation of nonredundant slave arms under a Cartesian-space velocity control mode. The theoretical base is a parameterized autonomous system, which is obtained through a virtual instantaneous closure of the kinematic...
This paper presents a simple on-line approach for motion control of mobile manipulators comprising a manipulator arm mounted on a mobile base. The proposed approach is equally applicable to nonholonomic mobile robots such as rover-mounted manipulators and holonomic mobile robots such as tracked...
This paper examines robot performance about a target point where the linearized robot dynamics can be used. We introduce a task-space performance index characterized in terms of a Linear Quadratic cost criterion for a class of robots. The performance in dex encapsulates the robot kinematics and...
Implementation of advanced model based robot control algorithms necessitates that joint actuators be capable of generating com manded joint torques. This capability permits compensation of gravity torques, for example. Relatively recent work reported in the robotics literature has focused on...
A process monitor for robotic assembly based on hidden Markov models (HMMs) is presented. The HMM process monitor is based on the dynamic force/torque signals arising from interaction be tween the workpiece and the environment. The HMMs represent a stochastic, knowledge-based system in which the...
Read and print from thousands of top scholarly journals.
Sign up with Facebook
Sign up with Google
Already have an account? Log in
Save this article to read later. You can see your Read Later on your DeepDyve homepage.
To save an article, log in first, or sign up for a DeepDyve account if you don’t already have one.
Sign Up Log In
To subscribe to email alerts, please log in first, or sign up for a DeepDyve account if you don’t already have one.
To get new article updates from a journal on your personalized homepage, please log in first, or sign up for a DeepDyve account if you don’t already have one.