Examinando por Materia "Robots"

Mostrando 1 - 6 de 6
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    Arquitectura de telecontrol de un robot mediante el uso de interfaces gestuales
    (Universidad EAFIT, 2013) Estefan Ángel, Juan Camilo
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    Ítem
    An integrated system for virtual scene rendering, stereo reconstruction and accuracy estimation
    (2006-01-01) Marichal-Hernández, J.G.; Pérez Nava, F.; Rosa, F.; Restrepo, R.; Rodríguez-Ramos, J.M.; Universidad EAFIT. Departamento de Ciencias Básicas; Óptica Aplicada
    This article depicts an integrated system capable of generating virtual stereo scenes, reconstructing a three-dimensional map of distances, and calculating the accuracy of the results obtained. This tool is particularly useful for verifying the validity of distance reconstruction techniques, and is robust enough to use in a wide variety of scenarios since it avoids the need for an image-capture system in laboratory simulations. The importance of the distance reconstruction problem lies in the range of its applications: industrial inspection and quality control, surveillance and security, autonomous vehicles, robotic systems, medical image analysis, image databases, virtual reality, telepresence, and telerobotics. The system is based on the VRML standard for three-dimensional geometric scene representation, on OpenGL for rendering virtual scenes, and on the TRW algorithm for the problem of three-dimensional reconstruction. © 2006 IEEE.
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    Interpolation Based Controller for Trajectory Tracking in Mobile Robots
    (SPRINGER, 2017-06-01) Serrano, M.E.; Godoy, S.A.; Quintero, L.; Scaglia, G.J.E.; Universidad EAFIT. Escuela de Ciencias; Modelado Matemático
    In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers. © 2016, Springer Science+Business Media Dordrecht.
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    Kinematic identification of parallel mechanisms by a divide and conquer strategy
    (INSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION, 2010-01-01) Durango S.; Externo - Escuela - Ingeniería; Ruiz O.; Restrepo-Giraldo J.; Achiche S.; Universidad EAFIT. Departamento de Ingeniería Mecánica; Laboratorio CAD/CAM/CAE
    This paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms. The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism. The estimation of the kinematic parameters is performed using the inverse calibration method. The identification poses are selected optimizing the observability of the kinematic parameters from a Jacobian identification matrix. With respect to traditional identification methods the main advantages of the proposed Divide and Conquer kinematic identification strategy are: (i) reduction of the kinematic identification computational costs, (ii) improvement of the numerical efficiency of the kinematic identification algorithm and, (iii) improvement of the kinematic identification results. The contributions of the paper are: (i) The formalization of the inverse calibration method as the Divide and Conquer strategy for the kinematic identification of parallel symmetrical mechanisms and, (ii) a new kinematic identification protocol based on the Divide and Conquer strategy. As an application of the proposed kinematic identification protocol the identification of a planar 5R symmetrical mechanism is simulated. The performance of the calibrated mechanism is evaluated by updating the kinematic model with the estimated parameters and developing simulations.
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    Multirate control of an unmanned aerial vehicle
    (World Scientific and Engineering Academy and Society (WSEAS) Press, 2005-01-01) Vélez S., C.M.; Agudelo, A.; Universidad EAFIT. Escuela de Ciencias; Modelado Matemático
    The application of multirate sampling to the control of an unmanned aerial vehicle (a mini-helicopter robot) using CACSD tools, developed specially for that goal, is presented. Multirate control is tested via simulation over the Matlab/Simulink mini-helicopter model, which is briefly described. A multirate modeling method is presented, which is the base of a CACSD tool for the modeling, simulation and real-time code generation of multirate control systems - the Multirate Control Toolbox (MCT).
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    Observations about an approximate algorithm for the point robot motion planning problem
    (IEEE Computer Society, 2002-01-01) Trefftz, C.; Trefftz, H.; Universidad EAFIT. Departamento de Ingeniería de Sistemas; I+D+I en Tecnologías de la Información y las Comunicaciones
    Observations about an approximate parallel algorithm for the point robot motion planning problem are presented. The algorithm solves not only the original problem, but related problems as well. © 2002 IEEE.