Phase one : Mobile Robot Control Program Demostration

Last Updated on Sunday, 19 December 2010 05:51 Written by TruongTrongToai Sunday, 19 December 2010 05:28

Mobile Robot Control Program

Compliant Joint Demo on Bilateral Teleoperation

Last Updated on Wednesday, 15 December 2010 09:16 Written by TruongTrongToai Wednesday, 15 December 2010 07:53

In certain applications including space and surgical robotics, the desire is to use small,thin and lightweight robots and cable-driven end-effectors. Space robots are designed to be lightweight and compact for minimum liftoff cost and energy consumption during robot control, and therefore involve flexibility. Also, in surgical robots, thin instruments  are used for minimal invasiveness, which brings about advantages such as reduced trauma to the body, post-operative pain and length of hospital stay. Due to the limited space and the small diameter of the instruments, actuation of a distal wrist that is used for dexterity is performed from outside the patient and propagated to the wrist through flexible cables. ( M. Tavakoli and R.D. Howe, School of Engineering and Applied Science, Harvard University)

Schematic Diagram of a Compliant Joint

Embedded Android Demonstration

Last Updated on Sunday, 19 December 2010 05:32 Written by TruongTrongToai Tuesday, 05 October 2010 13:49

Introduction

Android is a mobile operating system developed by Google and is based upon a modified version of the Linux kernel. It was initially developed by Android Inc. (a firm purchased by Google) and later positioned in the Open Handset Aliance.

The Android operating system software stack consists of Java applications running on a Java based object oriented application framework on top of Java core libraries running on a Dalvik virtual machine featuring JIT compilation. Libraries written in C include the surface manager, OpenCore media framework, SQLite relational database menagement system, OpenGL ES 2.0 3D graphics API, WebKit layout engine, SGL graphics engine, SSL, and Bionic libc. The Android operating system consists of 12 million lines of code including 3 million lines of XML, 2.8 million lines of C, 2.1 million lines of Java, and 1.75 million lines of C++.

Mini2440

Embedded Win CE Demonstration

Last Updated on Monday, 04 October 2010 15:50 Written by TruongTrongToai Monday, 04 October 2010 14:46

Introduction

The Mini2440 comes standard with 256MB NAND flash, expandable via an SD card slot, along with 2MB of NOR flash. The board has camera and LCD interfaces, and with a built-in 3.5-inch QVGA (320x240) TFT TouchScreen LCD .

The Mini2440's complement of PC-style I/O includes Ethernet, USB host and slave ports, and three serial connections. Available options include a WiFi module, and CMOS and USB camera options. The Mini2440 board offers a stable CPU power source chip and reset system.

Mini2440

Embedded Linux Demonstration

Last Updated on Sunday, 03 October 2010 02:34 Written by TruongTrongToai Saturday, 02 October 2010 18:04

Introduction

SBC2440 is a  highly intergrated development board. CPU employs Samsung S3C2440 micro-processor (ARM20T kernel, 16 Kbyte data buffer, 16 Kbyte instruction buffer, 400Mhz frequency, MMU (Memory Managenment Unit), embedded 4Kbyte SRAM ). It provides multiple memory modes, i.e., 64MB SDRAM, 64MB NANDFLASH, SD card ( a card memory device) interface, USB interface. It provides multiple communication interface modes, i.e.: 10/100M Ethernet, 3-channel serial port, 1-channel USB Host( SBC2440 can be configured as 2-channel USB Host), 1-channel USB Device. Diverse memory modes and diverse communication modes provide user with more flexible applications for the development

MiniCrane Control Demo using PowerPC

Last Updated on Sunday, 12 September 2010 10:20 Written by TruongTrongToai Sunday, 12 September 2010 09:58

3D Modeling of Robotic and Mechanical Systems

Last Updated on Friday, 28 October 2011 13:03 Written by Administrator Sunday, 27 June 2010 17:04

Easily adding 3D graphics to C/C++/C#, Visual basic, Matlab, Simulink, and LabView etc... without any programming.

For more information or further inquiries, please contact: 3T Robotics Group

2D Mobile Robot Simulation

Last Updated on Friday, 28 October 2011 13:03 Written by Administrator Sunday, 27 June 2010 05:27

Introduction

The robot that we have here is a wheeled robot. It has two wheels. It navigates with a differentially steered drive system. If one wheel is rotating faster, the robot will make a curved path. If both wheels are on the same speed, it will make a straight path.

Part V: 6-DOF Manipulator Robust Inverse Dynamic Control

Last Updated on Friday, 28 October 2011 13:02 Written by Administrator Thursday, 17 June 2010 08:19

In the real control system, uncertainties are unavoidable. The uncertainty can be classified into two categories: disturbance signals and dynamic perturbations. The former includes input and output disturbance, sensor noise and actuator noise,...The latter represents the discrepancy between the mathematical model and the actual dynamics of the system in operation. A mathematical model of any real system is always just an approximation of the true, physical reality of the system dynamics. Typical sources of the discrepancy include unmodelled (usually high-frequency ) dynamics, neglected nonlinearities in the modelling, effects of deliberate reduced-order models, and sytem-parameter variations due to environmental changes and torn-and-worn factors. These modelling errors may adversely affect the stability and performance of a control system.

Part IV: 6-DOF Manipulator Control 2

Last Updated on Friday, 28 October 2011 13:02 Written by Administrator Thursday, 17 June 2010 08:02

Joint Space Inverse Dynamics Control

Part III: 6-DOF Manipulator Control 1

Last Updated on Friday, 28 October 2011 13:02 Written by Administrator Thursday, 17 June 2010 07:41

Independent Joint Control

Part II: 6-DOF Manipulator Dynamic

Last Updated on Friday, 28 October 2011 13:02 Written by Administrator Thursday, 17 June 2010 07:08

Part I: 6-DOF Manipulator Modeling

Last Updated on Friday, 28 October 2011 13:01 Written by Administrator Thursday, 17 June 2010 06:45

6-DOF Manipulator Modeling

Enhanced Controller Area Network (eCAN) on the DSP

Last Updated on Sunday, 03 October 2010 03:16 Written by Administrator Sunday, 13 June 2010 12:38

The controller area network (CAN) uses a serial multimaster communication protocol that efficiently supports distributed real-time control, with a very high level of security, and a communication rate of up to 1 Mbps. The CAN bus is ideal for applications operating in noisy and harsh environments, such as in the automatice and other industrial fields that require reliable communication. Prioritized messages of up to eight bytes in data length can be sent on a multimaster serial bus using an arbitration protocol and an error-detection mechanism for a high level of data integrity . 

Finite difference simulation of flexible manipulators

Last Updated on Friday, 28 October 2011 13:03 Written by Administrator Saturday, 12 June 2010 08:08

Flexible manipulator systems (FMSs) offer several advantages in contrast to the traditrional rigid ones. These include faster system response, lower enery consumption, requiring relatively smaller actuators, reduced non-linearity due to elimination of gearing, less overall mass and, in general, less overall cost. However, owing to the distributed nature of the governing equations describing system dynamics, the control of flexible manipulator has traditionally involved complex processes. 

Robot Simulation in Matlab

Last Updated on Friday, 28 October 2011 13:04 Written by Administrator Saturday, 08 May 2010 04:39

This tutorial will discuss some of the basic steps in creating a virtual robot control and simulation environment in Matlab

Implementation of Servo Motor Position Control on DSP

Last Updated on Friday, 06 August 2010 07:02 Written by Administrator Saturday, 03 April 2010 10:50

TI DSP Board

Telepresence Vision System

Last Updated on Saturday, 29 October 2011 03:04 Written by Administrator Sunday, 28 February 2010 05:33

Telepresence Vision System

The experiment  at  Biorobotics Lab, Korea

Programming the slave robot : Truong Trong Toai

Programming the master : Ildar Farkhatdinov ( University of Pierre and Marie Curie, France)

Augmented Reality Glasses

3-Phase AC/BLDC High Voltage Power Driver

Last Updated on Saturday, 07 August 2010 03:43 Written by Administrator Tuesday, 16 February 2010 15:46

Overview

Control PAM Manipulator with Nonlinear PID Controller using Neural Network

Last Updated on Monday, 14 March 2011 09:54 Written by Administrator Friday, 05 February 2010 15:45

Advantages of PAM

• PAMs are very lightweight because their main element is a thin membrane.
• Initial force up to 10 times higher than a conventional cylinder of the same diameter.
• Highly dynamic response, even at high loads
• High strength and high power/weight ratio.
• Low cost, easy of maintenance, cleanliness,
• The inherent compliant behaviour. Compliance is due to the compressibility of air.
• This is an important feature whenever there is an interaction between man and machine of  when delicate operations have to be carried out(e.g. handling of fragile objects)