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For this reason, the base of the robot has to be shifted several times during the painting process.
At the base of the robot is an iRobot Create, which is essentially iRobot's floor-cleaning robot, the Roomba, minus the vacuum.
The base of the robot is fixed on ground by means of a custom design dynamometer, which measures the torque transferred to ground to be minimized.
Such difficulties become even more problematic when the base of the robot's arm is mobile.
The way Jet Hitter works is that users need to step on a button at the base of the robot, prompting a baseball to pop up and stay suspended 10-20cm above a nozzle on a jet of air.
In order to map the movement to the STIFF-FLOP robot, we consider the Frenet frames at the base of the robot (R 1), in the middle point between the two modules (R n/2), and at the tip (R n/2), where n is the number of segments used for the discretization of the continuous kinematic chain.
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Evolutionary techniques such as genetic programming (GP) can successfully be used to automatically program the controller, minimizing the limitations arising from explicit or implicit human design criteria, based on the robot's experience of the world.
Lastly, the user must acknowledge and consider the slight drifting on the base rotation of the robot and the maximum load the system can take to throw.
Hence, two homogeneous transformation matrixes are needed one is to locate the grasping base in the world frame (denoted as (_B^W{varvec{T}})), and another to indicate the swinging gripper (end-effector) with respect to the base frame of the robot (denoted as (_E^B{varvec{T}})), as shown in Fig. 1.
This is, in a way, an expected result, as the base speed of the robot was the same under both conditions.
The developed controller uses the inertial parameters of the base of the space robot only.
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