Ricardo O. Carelli

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Presents an approach and a systematic design methodology to adaptive motion control based on neural networks (NNs) for high-performance robot manipulators, for which stability conditions and performance evaluation are given. The neurocontroller includes a linear combination of a set of off-line trained NNs, and an update law of the linear combination(More)
This paper presents a switching controller for positioning a unicycle-like mobile robot at a desired point with final orientation avoiding obstacles in completely unknown environments. To this aim two complementary algorithms are included: the first decides whether to avoid an obstacle around its right or left side, and the second is intended to detect when(More)
This paper presents a novel image-based controller for the visual servoing of mobile robots navigating in corridors. Two strategies based on perspective line detection are considered: an image-based approach and a position-based approach. Both are fully described including stability analysis and experimental results on real robots, discussing limitations(More)
This paper presents the design of a stable non-linear control system for the remote visual tracking of cellular robots. The robot is controlled through visual feedback based on the processing of the image captured by a fixed video camera observing the workspace. The control algorithm is based only on measurements on the image plane of the visual camera(More)
This work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multirobot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by(More)
Impedance control specifications for robot manipulators are given in terms of a desired motion trajectory and a desired dymanlc relationship between position errors and interaction forces. An adaptive implementation is proposed in this paper as an alternative to reduce the design sensitivity due to model-manipulator parameter mismatch. Two adaptive(More)
Adaptive controllers for robot positioning and tracking using direct visual feedback with camera-in-hand configuration are proposed in this paper. The controllers are designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system(More)
The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some(More)