Localization using satellite-based GPS is not available in underground mines, therefore a new approach required. This paper presents method for localizing sensor-equipped vehicle large-scale environment by particle filter and collection of 2D priori node maps. Sporadically placed passive RFID tags are used the creation locally consistent maps helping to solve global localization problem. Experimental results from real-time multi-kilometre Carleton University tunnels presented.

This paper presents a novel approach to solve multiobjective robotic trajectory planning problems. It proposes find the Pareto optimal set, rather than single solution usually obtained through scalarization, e.g., weighting objective functions. Using problem for redundant manipulator as part of captive simulation system, general discrete dynamic programming (DDP) approximation method presented in our previous work is shown be promising obtain close representation set. When compared with set...

In this paper the singular configurations of wrist-partitioned 6R serial robots in general, and KUKA KR-15/2 industrial robot particular, are analytically described classified. While results not new, insight provided by geometric analysis for users such is. Examining problem joint axis parameter space, it is shown that when end-effector reference point taken to be wrist centre determinant associated Jacobian matrix splits into four factors, three which can vanish. Two potentially vanishing...

A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form ruled quadric surfaces in image space. The forward problem for all three-legged, three-degree-of-freedom parallel manipulators thus reduces determining points intersection three these surfaces, one corresponding each leg. inverse solutions, though trivial, are implicit formulation surface equations. Herein solutions robots with arbitrary, mixed leg architecture exposed completely,...

Conventional training simulators commonly use the hexapod configuration to provide motion cues. While widely used, studies have shown that hexapods are incapable of producing range required achieve high fidelity simulation in many applications. This paper presents an overview Atlas platform: a novel six DOF platform architecture. Orienting is decoupled from positioning, and unlimited rotations possible about every axis mechanism. The decoupling accomplished by fixing three spherical...

The use of 3D scanning systems for acquiring the external shape features arbitrary objects has many applications in industry, computer graphics, and more recently, biomedical field. potential exists to expand models even further, by continuing develop simpler, cost effective systems. A simple, lost cost, system is presented which employs a laser light-sectioning technique. Results proof concept experiment proposed demonstrate validity chosen approach. Directions future work are also discussed.

Planar kinematic mapping is applied to the five-position Burmester problem for planar four-bar mechanism synthesis. The formulation takes five distinct rigid body poses directly as inputs generate quadratic constraint equations. are on fourth order curve of intersection up four hyperboloids one sheet in image space. Moreover, uniquely specify these two hyperboloids. So, given positions any reference point coupler and corresponding orientations, we get fixed revolute centres, link lengths,...

Using a novel actuation concept employing omni-directional wheels (or simply omni-wheels), the Atlas simulator motion platform provides unlimited angular displacement about any axis. The completely decouples orienting and positioning degrees-of-freedom further each of degrees-of-freedom. It consists an omni-wheel driven sphere for orientation that has its geometric centre positioned by $XYZ$-table. Jacobian device is independent time dependent only on mechanism architecture, meaning it...

This paper studies the problem of generating optimal joint trajectories for redundant manipulators when multiple criteria need to be considered and proposes a novel approach based on dynamic programming use Pareto optimality condition. The drawbacks traditional weighting method in optimization set are discussed an alternate using is proposed. two approaches implemented model 7-DOF manipulator with end-effector moving along prescribed trajectory, while required minimize particular criteria....

Conventional training simulators commonly use the hexapod configuration to provide motion cues. While widely used, studies have shown that hexapods are incapable of producing range required achieve high fidelity simulation in many applications. Atlas is a six degree freedom vehicle operating simulator platform where orienting decoupled from positioning, and unbounded rotation possible about any axis. Angular displacements achieved by manipulating cockpit contained 2.9 metre (9.5 foot)...

This paper presents an overview of the design first full-scale prototype Atlas flight simulator motion platform for pilot training. The concept was introduced in 2005, and is unique such that orientation decoupled from positioning, unlimited rotations are possible about any axis mechanism. Detail manufacturing complete, assembly progress. Central to three Mecanum wheels equilateral arrangement, which impart angular displacements a sphere houses cockpit, thereby providing rotational...

SUMMARY This paper presents analysis of the dynamics and vibration an orientation motion platform utilizing a sphere actuated by omnidirectional wheels. The purpose is to serve as design tool for construction six-degree-of-freedom with unlimited rotational motion. equations are presented taking flexibility system into account. behaviour illustrated sample configurations range wheel types geometries. Vibration follows, sensitivity various parameters investigated. It determined that geometry...

This paper introduces a novel multi-modal continuous approximate synthesis algorithm for planar four-bar function generators. The equation is the sum of squared input-output (IO) equations integrated over different prescribed input variable parameter ranges. Every mechanism explicitly generates six distinct functions each uniquely determined by one set link constants. We will examine simultaneous two related perturbed, but not competing, between pairs joint variables that, in general,...

This paper addresses the problem of finding an approximation to minimal element set objective space for class multiobjective deterministic finite horizon optimal control problems. The is assumed be partially ordered by a pointed convex cone containing origin. procedure consists two-step discretization in time and state space. Following first-order discretization, dynamic programming principle used find discrete equation equivalent resulting problem. finally discretized convergence both steps...

This paper presents a general approach to the kinematics of an orientation motion platform utilizing sphere actuated by omnidirectional wheels. The number and type wheels, as well their position relative are arbitrary, provided they distinct. In this paper, presented illustrated sample configurations with range wheel types quantities. Moreover, no-slip conditions identified, resulting expressions implications on design such mechanical system demonstrated means several benchmark examples.

A practical solution procedure for the forward kinematics problem of a fully-parallel planar three-legged platform with holonomic higher pairs is presented. Kinematic mapping used to represent distinct displacements end-effector as discrete points in three dimensional image space. Separate motions each leg trace skew hyperboloids one sheet this Therefore, intersection solutions problem. This reduces solving simultaneous quadratics. Applications are discussed and an illustrative numerical...