Description:
Kinesin and muscle myosin are considered as physical bio-nanoagents able to sense their cells through their sensors, make decision internally, and perform actions through their actuators. This paper has investigated and compared the flexible (reactive, pro-active, and interactive) autonomous behaviors of kinesin and muscle myosin bio-nanorobots. Using an automata algorithm, the agent-based deterministic finite automaton models of the internal decision making processes of the bio-nanorobots (as their reactive and pro-active capabilities) were converted to their respective computational regular languages (as their interactive capabilities). The resulted computational languages could represent the flexible autonomous behaviors of the bio-nanorobots. The proposed regular languages also reflected the degree of the autonomy and intelligence of internal decision-making processes of the bio-nanorobots in response to their environments. The comparison of flexible autonomous behaviors of kinesin and muscle myosin bio-nanorobots indicated that both bio-nanorobots employed regular languages to interact with their environments through two sensors and one actuator. Moreover, the results showed that kinesin bio-nanorobot used a more complex regular language to interact with its environment compared with muscle myosin bio-nanorobot. Therefore, our results have revealed that the flexible autonomous behavior of kinesin bio-nanorobot was more complicated than the flexible autonomous behavior of muscle myosin bio-nanorobot.
Description:
Theodolites represent a well-established three-dimensional-point-measuring technology. However, when used for robot applications they have to be properly calibrated to fulfil the necessary accuracy requirements. The theodolite calibration methods reported in the literature involve the use of costly sophisticated equipment not easily available to most users. Therefore, a new simplified calibration technique is presented based on the use of a graduated precision bar suspended freely to align with the vertical direction. To develop efficient mathematical models, the theodolites will be regarded as 2R open-ended mechanisms with the end-effector axis directed along the line of sight. The proposed models are then coded in a computer program designed to verify the validity of the technique presented. The simulation results will be presented at the end of the paper.
Description:
Theodolites represent a well-established three-dimensional-point-measuring technology. However, when used for robot applications they have to be properly calibrated to fulfil the necessary accuracy requirements. The theodolite calibration methods reported in the literature involve the use of costly sophisticated equipment not easily available to most users. Therefore, a new simplified calibration technique is presented based on the use of a graduated precision bar suspended freely to align with the vertical direction. To develop efficient mathematical models, the theodolites will be regarded as 2R open-ended mechanisms with the end-effector axis directed along the line of sight. The proposed models are then coded in a computer program designed to verify the validity of the technique presented. The simulation results will be presented at the end of the paper.
Description:
Forward and inverse kinematics operations are important in the operational space control of mechanical manipulators. In case of a parallel manipulator, the forward kinematics relates the joint variables of the active joints to the position of end-effector. This paper finds analytically forward kinematics function by exploiting the position-closure property. Using the proposed function along with the analytical Jacobian presented in the literature, the forward and the inverse kinematics blocks are formulated for a prospective operational space control scheme. Finally, an example is presented for a 3-RPR robot.
Description:
The current objective of this robotics research study is mainly to develop a cheap and not cumbersome systems for special applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed with this philosophy. The developed system is composed of master, slave and control system for collaborative operation between the surgeon and the robot. A parallel robot haptic device is used as master to teleoperate a serial robot with three degrees of freedom (dof). The advantage of this method is the possibility of coupling master and slave with non-matching kinematics through a kinematic transformation. The developed control system architecture is presented in this paper. The control architecture was designed to control the teleoperation system where the master and slave robots do not have homothetic kinematics. Finally, the viability of the developed control is demonstrated by the experimental results.
Description:
This paper presents a proposed adaptive technique for nonholonomic wheeled mobile robot (NWMR) using the sliding-mode control (SMC) method. The proposed control system based on the backstepping kinematic controller and PI sliding mode dynamic control. With an adaptive fuzzy logic to adjust adaptation gain of SMC for trajectory tracking control of nonholonomic mobile robot. Parametric and nonparametric uncertainties of mobile robot can be solved by using the proposed control which take advantages of stability and robustness in sliding mode control. The adaptation gain of SMC is adjusted by using Mamdani type inference system with adaptive tuning algorithm, which improves the adaptability for uncertainness and eliminate input chattering of the SMC. The stability and convergence of the control system are proved using Lypanouve criteria, and the comparison of the proposed controller with the other controllers ensures the validity and superiority of my own controller