Robotic positioning

Online control of the AlR-1 robot is done from within the UltraSIM/UlScan generic scanner control module. With a scanning program as input, the control application is able to calculate and perform cartesian motion for any usual robot manipulator having an inverse solution. The planned robot motion can be simulated off-line before online execution regarding joint and robot position, speed and acceleration. During robot inspection the 3D virtual inspection environment is updated real-time according to the actual robot motion. 

Mobile robots are nonholonomic systems due to the constraints imposed on their kinematics. The equations describing the constraints cannot be integrated symbolically to obtain explicit relationships between robot positions in local and global coordinate s frames. Hence, control problems that involve them have attracted attention in the control community in the last years. 

Many technical and nontechnical careers are available in microwave technology. The technical fields require a minimum of a bachelor s degree in engineering or other scientific field however, many also require a master s or doctorate degree. Course work should include mathematics, engineering, computer science, and robotics. Positions are available in both... 

In the first trial, information shared was limited to robot position, while in the second trial robots were used as virtual sensors, as proposed in Gasparri, Panzieri, and Pascucci (2008). In this case, the robot sensory system is augmented by the perceptual ability of its neighbors. As a consequence, the estimate error is considerably reduced, since more information is used to form the belief. A drawback of this approach is the communication cost since a large amoimt of information needs to be shared. 

The working memory data is used for the navigationai aspect of the program which computes the shortest path from an initial point goal tart A to the final destination goal destination B using intermediate positions X for the robot as robot position X. Any modification to this data has to originate as an action of the APS itself and this represents the conventional part of the system. 

Mooring, B.W., The Effect of Joint Axis Misalignment on Robot Positioning Accuracy, in Proceedings of the ASME Conference on Computers in Engineering, Chicago, Illinois, 1983, pp. 151-155. 

Research on improving robot positioning accuracy due to link/joint parameter errors has concentrated mostly on the effects of these errors on the kinematic performance of the robot. This paper extends this error-related analysis to the dynamic performance of the robot, by presenting the deviations in robot manipulator torque for several cases in which link/joint kinematic parameter errors exist. The deviation in manipulator joint torque due to robot link/joint kinematic parameter errors was studied for a two-link revolute robot manipulator. Algorithms have been developed that successfully compute such joint torque deviations. A simple robot task cases was studied. The results shows the contribution of joint torque deviation due to the small kinematic parameter errors. 

One of the main research efforts devoted to robotics is to investigate the effect of the robot link/joint kinematic errors on the robot end-effector positioning accuracy [1]. In the recent years, robot manipulators are being required to perform more complicated tasks instead of simple pick and place motions. The rapid development of CAD/CAM systems, off-line robot programming, and use of sensor guided robots have also required that robot end-effectors move more accurately in Cartesian task space. This robot position accuracy study is concentrated on robot kinematic model correction and improvement, mainly because the majority of robot manipulators used in industry are controlled based on robot kinematics. 

Mooring, B.M., "The Effect of Joint Axis Misalignment on Robot Positioning Accuracy," ASME Proc. of International Computers in Engineering Conference, Vol.2, pp 151-155, 1983... 

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