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A technique for optimal trajectory planning of robot manipulators is presented. It consists of linking two points in the operational space while minimizing a cost function, taking into account dynamic equations of motion as well as bounds on joint velocities, accelerations, jerks and force/torques. We choose the cost function as a weighted balance of(More)
Owing to the demanding processing accuracy and speed for image registration in industrial application, an approach to image registration based on Pseudo-Polar Fast Fourier Transform (PPFFT) and Small World Clonal Selection Algorithm (SWCSA) is introduced. We propose a three-step procedure. Firstly, PPFFT is performed to the image. Then, by using the(More)
In order to realize visual servoing for robot manipulators, the robust and accurate estimation of a target object pose must be achieved. The pose estimation is achieved by a three-dimensional registration method. This paper presents this novel method for the registration of the rotated and translated part according to its camera images and three-dimensional(More)
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