SUMMARY Strawberry is a very delicate fruit that requires special treatment during harvesting. A hierarchical control scheme proposed based on fuzzy controller for the force regulation of gripper and proper grasping criteria, can detect misplaced strawberries or uneven distribution forces. The design are conducted experiments to measure maximum gripping required detachment under variety techniques. It demonstrated hand motion detaching from stem has significant role in process because it...

This paper addresses the problem of providing feedback to operator about manipulator's performance during human-robot physical interaction. A method is proposed that implements virtual constraints in Cartesian admittance control order prevent from guiding manipulator low-performance configurations. The are forces expressed frame, which restrict translation end-effector when guides robot below a certain threshold. These calculated online by numerically approximating gradient index with...

In this work a method for the kinematic synthesis of structure topologies modular metamorphic serial manipulators is presented. A detailed description class robot presented, in order to clarify their basic elements and structural definitions. Based on these, representation (MSR) proposed systematic type manipulator structures. thorough examination possible links that can be constructed presented used definition manipulator's evaluation criteria, formulate multicriteria index. The problem...

This paper addresses the problem of singularity avoidance for a 4-Control Moment Gyroscope (CMG) pyramid cluster, as used attitude control satellite using machine learning (ML) techniques. A data-set, generated heuristic algorithm, relates initial gimbal configuration and desired maneuver—inputs—to number null space motions gimbals have to execute—output. Two ML techniques—Deep Neural Network (DNN) Random Forest Classifier (RFC)—are utilized predict required motion trajectories that are not...

In this paper, a method for the optimal design of metamorphic manipulators is presented, using path dexterity indices in diverse service tasks. The Swedish massage chosen as an application, due very dissimilar techniques that can be challenging fixed anatomy manipulators. These are presented and mapping to proposed based on each technique's requirements. A evaluation anatomies over tasks proposed, optimized manipulator determined. Finally, illustrative example three tasks, where advantages...

A heterogeneous object (HO) modeling system independent of any commercial CAD software packages is introduced in this paper.Through system, models can be converted into 2D slices with material information for the fabrication rapid prototyping technique.In framework, volumetric dataset (VD) employed to represent variations, which offers flexible manipulability HO representation, while geometry model used describe shape an object, guarantee accuracy final slices.Two schemes are evaluate...

Wind aware path planning is essential towards the development of autonomous quadcopters (UAVs) which will be able to fly efficiently in outdoor environments. In this paper, wind formation and quadcopter kinematics are presented so as provide cost functions for A⁎ based on distance information. Furthermore, a collision checking method proposed, incorporated flight scenario an terrain under various formations. A computational comparison uniform graph PRM finally evaluated. Experiments...

Autism Spectrum Disorder is a developmental disorder that affects children from very young age and characterized by persistent deficits in social, communicational, behavioral abilities. Since there no cure for autism, domain experts focus on aiding these through specific intervention plans are aimed towards the development of deficient areas. Using socially assistive robots interact social manner with autism interventions, efforts being made alleviating autistic behavior enhancing their...

Abstract In this work, a framework is proposed for the analytical formulation of dynamic equations serial metamorphic manipulators using screw theory tools. The integration structure reconfiguration achieved in compact and comprehensive manner. Based on previously Modular Structure Representation, additional statements are provided to strictly define assembly. To validate precision extracted dynamics, two simulations performed paths defined cartesian space. generated trajectory evaluated by...

The paper presents a knowledge-based system (KBS) for the conceptual design of grippers handling fabrics. Its main purpose is integration domain knowledge in single systematic this type grippers. presented, terms gripper, material and process, are classified. reasoning strategy based upon combination depth-first search method heuristic method. finds final solution from given set feasible solutions can synthesize new to accomplish required specifications. Details features given, including its...

In the present paper a closed loop fuzzy control scheme for correction of drop-foot syndrome is presented. The based on EMG signals from contralateral, unimpaired lower limb and its efficiency tested by application controller to simulated bipedal locomotion with one suffering Drop-Foot Syndrome. Two are major characteristics controller: identification phase where stimulation must be provided using excitation signal according collateral impaired limb.

Abstract This paper proposes a method for optimizing rectilinear tasks on 3 degrees-of-freedom (DoF) modular serial metamorphic manipulator. The overall experimental process was designed in order theoretical assumptions and previous results, regarding the characteristics of class reconfigurable manipulators to be verified. optimization procedure undergoes two stages. In each stage, are initially simulated optimal solutions obtained afterward evaluated Optimal task placement configuration...