Browsing by Author "Adnan, Sarmad"

Now showing 1 - 2 of 2
  • Thumbnail Image
    Item
    Design, analysis, implementation, and control of a mobile robotic testbed for telepresence
    (1992) Adnan, Sarmad; Cheatham, John B., Jr.
    A unique mobile telepresence testbed has been designed and implemented. This testbed is a tool for research in telepresence and tele-existence for control of remote robotic systems. An eight-degree-of-freedom, redundant manipulator has been designed and implemented for this system. Resolved acceleration control and impedance control have been demonstrated. An omnidirectional base has been built to provide human-like movement capabilities to the telepresence testbed. Control software written for the system allows easy control of the base and the arm. Hand-controllers are used to guide the system trajectories. Ethernet, serial links, or wireless radio modems can be used as the control medium. Use of individual motor control processors for each motor allows high servo update rates to be achieved. A high level, modular and extensible library of routines has been written to allow easy programming of the system by future researchers. A head-tracking platform with color stereo cameras provides video feedback to the operator with depth perception to allow fine manipulation tasks.
  • Thumbnail Image
    Item
    Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)
    (1989) Adnan, Sarmad; Cheatham, John B., Jr.
    The forward/inverse kinematics, trajectory planning and control system for a mobile omni-directional robot are analyzed and implemented. For kinematic analysis each wheel of the robot has been modeled as a "higher pair" joint. Both the forward and inverse kinematic solutions of the robot are dealt with. The trajectory planning for the robot is done on two levels, a global robot trajectory and individual wheel trajectories. A simple, Linear Segment with Parabolic Blends, trajectory is used on the local, wheel level. On the global level the robot can be made to move along higher order trajectories. A PID control system for the robot is implemented for this purpose. Using a hierarchical control scheme the wheel encoder feedback is converted to global motion feedback. This control scheme does not account for wheel slippage.