This paper presents a novel control architecture for controlling moving remote center of motion in addition to the end-effector during robotic surgery. In minimally invasive surgery, it is common require that point at which robot enters body, called incision or trocar, does not allow any lateral motion. It generally considered no should be applied this order avoid inflicting damage patient's skin. However, body may moving, example due breathing beating heart. compensate motion-or if we some...

Abstract This paper addresses the visual servoing control problem for robot manipulators without using velocity measurements, and considering a fixed but uncalibrated camera with an optical axis perpendicular to workspace. A novel strategy via sliding mode ( SMC ) monitoring function based switching scheme is presented deal uncertainties in calibration parameters remove any restriction on unknown orientation angle. The developed method provides global stability, disturbance rejection...

A hybrid control scheme based on adaptive visual servoing and direct force is proposed for robot manipulators to perform interaction tasks smooth surfaces. The camera parameters, as well the constraint surface, are considered be uncertain. fixed with optical axis non-perpendicular workspace used position control, while a sensor mounted wrist regulation. In order solve problem unknown surfaces, method developed estimate geometry keep end-effector orthogonal surface at contact point, during...

Summary In this work, we consider the 3D visual tracking problem for a robot manipulator with uncertainties in kinematic and dynamic models. The feedback is provided by fixed uncalibrated camera located above workspace. Cartesian motion of end effector can be separated into 1D parallel to optical axis 2D constrained on plane orthogonal axis. Thus, control design simplified, overall servoing system partitioned two almost‐independent subsystems. Adaptive schemes, based approach, are developed...

This work proposes a new strategy for autonomous navigation of mobile robots in sugarcane plantations based on thermal imaging. Unlike ordinary agricultural fields, farms are generally vast and accommodates numerous arrangements row crop tunnels, which very tall, dense hard-to-access. Moreover, crops lie harsh regions, hinder the logistics employing staff heavy machinery mapping, monitoring, sampling. One solution this problem is TIBA (Tankette Intelligent BioEnergy Agriculture), low-cost...

In recent years, the use of mobile robots in agriculture has increased significantly because their capability to carry out agricultural tasks a safe and efficient manner, with limited or without human intervention. Crop monitoring inspection have become an important part precision agriculture, supporting farmers management insect pests, weeds diseases order reduce costs losses. this work, we present design development autonomous robot, conceived perform routine on soy cotton crops. The robot...

An output-feedback sliding mode controller using monitoring functions was recently introduced for linear uncertain single-input-single-output (SISO) systems with unknown control direction. Here, a generalization is developed multivariable strong nonlinearities. The scheme extended to handle the uncertainty of plant high frequency gain matrix K <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">p</sub> . Our strategy provides global stability...

Abstract Agricultural automation emerges as a vital tool to increase field efficiency, pest control, and reduce labor burdens. While agricultural mobile robots hold promise for automation, challenges persist, particularly in navigating plantation environment. Accurate robot localization is already possible, but existing Global Navigation Satellite System with Real‐time Kinematic systems are costly, while also demanding careful precise mapping. In response, onboard navigation approaches gain...

This work considers a hybrid force and vision control system for robotic manipulators using sensor fixed uncalibrated camera. A method is proposed to combine direct adaptive visual servoing perform tasks on unknown smooth surfaces, in the presence of uncertainties camera-robot parameters. The considered task involves tracking moving target, while end-effector tip exerts controlled contact surface. Simulation results are presented illustrate performance scheme

This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is consider constraints of mechanisms from their structure equations, instead explicitly using constraint equations. A case study parallel robots and cooperating redundant discussed based on following concepts: forward kinematics, differential singularities control. Simulations results, obtained with a Four-Bar linkage mechanism, planar Gough-Stewart platform two robots,...

The majority of works in line sight (LOS) stabilization and tracking using inertially stabilized platforms (ISPs) apply simple linear controllers to achieve the required performance. However, these techniques do not provide ideal disturbance rejection, which is a desired characteristic for types systems context high-accuracy applications. In this work, we propose Sliding Mode Control (SMC) strategy both target 3- DoF ISP. Both state output feedback cases are considered. latter case,...

In this work, we present a control and obstacle collision avoidance method for redundant robot manipulators operating in partially structured environments the presence of humans. The algorithm is based on concept artificial potential fields it uses pseudo-inverse Jacobian matrix with weighting factor mechanical joint limits, taking advantage redundancy purpose goal achievement. detection depth sensor light to obtain 2-1/2-D description surroundings from point cloud. Repulsive are created...

In this work, we consider a novel adaptive hybrid pose/force control strategy for uncertain robot manipulators capable of performing interaction tasks on poorly structured environments. A unique law, based an orientation-dependent term, is proposed to overcome the performance degradation feedback system due presence uncertainties in geometric parameters contact surfaces. gradient-based which depends tracking error, designed deal with parametric kinematics and stiffness environment. our...

In this work, we present a new robust vision-based controller for wheeled mobile robots, equipped with fixed monocular camera, to perform autonomous navigation in agricultural fields accurately. Here, consider the existence of uncertainties parameters robot-camera system and external disturbances caused by high driving velocities, sparse plants, terrain unevenness. Then, design image-based visual servoing (rIBVS) approach based on sliding mode control (SMC) method robot motion stabilization,...

This paper presents a kinematic control scheme for robot manipulators based on an algorithm that dynamically estimates inverse of the Jacobian matrix. An interesting property this is its ability to deal with problem singularities. The output can be interpreted as filtered A case study 3-DoF non-redundant manipulator presented. Some simulation results illustrate performance proposed methodology.

This paper deals with the problem of controlling 3D Cartesian position an object grasped by a multifingered robot hand using visual servoing approach. We consider that geometry is known and contact constraints are always satisfied during grasping motion. An RGB camera depth sensor simultaneously used to provide positioning information object. The control design based on kinematic approach two servo controllers developed in image space, ensuring zero-convergence output tracking errors high...

In this work, we address the modelling and control design of a wheeled mobile robot capable performing autonomous navigation tasks in agricultural fields. The methodology is based on kinematics approach due to its wellknown ability ensure satisfactory performance when motions are carried out with low velocities slow accelerations. Two strategies used for stabilization trajectory tracking purposes: first scheme fuzzy logic algorithm considers regulation problem position Cartesian space;...