Contour control of a robot arm is an act of the end-effector tip being moved along a reference Cartesian path, with an assigned velocity. When torque saturation occurs, and lasts for some time, contour deteriorations result. In addition, system delay dynamics also causes contour deteriorations. In this paper, an offline trajectory generation algorithm is described, which achieves both optimum avoidance of torque saturation and delay dynamics compensation.
In this paper EOG signal processing and developing a low cost signal interface for wheelchair with high accuracy and reliability for severely disabled people is presented. Here the signal processing is done on a microcontroller which reduces the cost drastically rather than using a computer. Eye movement is detected by processing EOG signal, and associates the eye movement to motion commands of the wheelchair such as forward, reverse, left and right. A 99% accurate classification has been demonstrated experimentally.
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