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19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)最新文献

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Control design for impedance model with feedback delay 带反馈延迟的阻抗模型控制设计
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524540
P. Galambos, P. Baranyi, P. Korondi
{"title":"Control design for impedance model with feedback delay","authors":"P. Galambos, P. Baranyi, P. Korondi","doi":"10.1109/RAAD.2010.5524540","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524540","url":null,"abstract":"In haptic and telemanipulation devices stability and transparency are contradicting requirements. Due to the network delay the control process may become unstable. In our research we consider the coupled impedance type control algorithms for force reflecting telemanipulation. There are several solutions in the control literature to handle constant time delay in feedback systems, but varying delay is still a challenge. This paper attempt to handle varying delay by a novel approach. We propose a control structure where the system with feedback delay is approximated by a non-delayed model with modified time constants. The controller is designed according to this non-delayed substitute system and the control signal is computed using its observed state vector. Tensor Product (TP) Model Transformation is utilized to make a compact polytopic representation of the observer and controller for various time delays. In this method the actual value of the feedback delay is considered as an input parameter of the TP type controller and observer. As example, a single degree of freedom impedance model with feedback delay is discussed. The results are confirmed by numerical simulation.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132623415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Optimization in designing compliant robotic micro-devices 柔性机器人微装置的优化设计
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524554
J. Hricko, S. Havlík, R. Hartanský
{"title":"Optimization in designing compliant robotic micro-devices","authors":"J. Hricko, S. Havlík, R. Hartanský","doi":"10.1109/RAAD.2010.5524554","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524554","url":null,"abstract":"This paper deals with design procedures for devices based on compact compliant mechanical structures. Compliant mechanisms represent relatively a broad class of electro-mechanical systems where output motions / displacements are reached by elastic deformation of their flexural parts / segments. They are used especially for building robotic micro-positioning devices, effectors, sensors and actuators. Design problems of compliant mechanisms for particular devices are discussed. Application of an optimization procedure in design of the compliant joint is shown as example.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122661238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Improving accuracy of compliant robotic (micro) devices 提高柔性机器人(微)装置的精度
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524556
S. Havlík
{"title":"Improving accuracy of compliant robotic (micro) devices","authors":"S. Havlík","doi":"10.1109/RAAD.2010.5524556","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524556","url":null,"abstract":"The common problem of multi d.o.f. positioning or multi - component sensing devices based on compliant mechanisms is to reach the best accuracy of the positioning / sensing systems. This paper deals with analysis of elastic parts / segments of structures and possible errors due to cross compliance effects. The model that enables to minimize compliance errors and calibration procedure is discussed.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115959855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
New approach of the navigation control of small size UAVs 小型无人机导航控制的新方法
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524598
A. Molnár, D. Stojcsics
{"title":"New approach of the navigation control of small size UAVs","authors":"A. Molnár, D. Stojcsics","doi":"10.1109/RAAD.2010.5524598","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524598","url":null,"abstract":"In unmanned aerial vehicle operations as well as in aviation the airflow direction and speed plays a major role. The wind speed may limit the use of aircraft, and determines the direction of the takeoff and landing. In the case of small size UAVs (0.5 – 4 m wingspan, 0.5 – 10 kg takeoff weight) the strength and the direction of the wind is quite important, because the airspeed of the vehicle is in the same scale, and the turbulence can affect the flight path. The general methods of wind measurement cannot be applied onboard of the UAV. Although the ground measured wind data is sufficient for the takeoff, but it is irrelevant when the UAV is landing in a different place, e.g. on a far field. In that case, the wind speed and direction must be measured onboard the vehicle, before the landing maneuver. The aim of the research is the real time determination of the dominant wind data with the onboard sensors.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126386081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Mobile robot pose tracking by correlation of laser range finder scans in Hough domain 基于Hough域激光测距扫描的移动机器人位姿跟踪
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524574
D. Graovac, Srecko Juric-Kavelj, I. Petrović
{"title":"Mobile robot pose tracking by correlation of laser range finder scans in Hough domain","authors":"D. Graovac, Srecko Juric-Kavelj, I. Petrović","doi":"10.1109/RAAD.2010.5524574","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524574","url":null,"abstract":"This paper proposes a correlation scan matching method based on matching consecutive readings of laser range finder. The method uses the Hough transform and the Hough spectrum for determining the relative rotation. By calculating also translation in the Hough domain, the method can also be successfully used in non-perpendicular environments. This paper also looks at validity of utilizing the probabilistic Hough transform with regard to the complexity and the accuracy of the algorithm. Proposed scan matching methods are used for mobile robot pose tracking. Developed algorithms are validated by simulation and experimental tests.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126865230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
An experimental evaluation of earthquake effects on mechanism operation 地震对机械运行影响的实验评价
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524563
S. Sula, G. Carbone, D. Pisla
{"title":"An experimental evaluation of earthquake effects on mechanism operation","authors":"S. Sula, G. Carbone, D. Pisla","doi":"10.1109/RAAD.2010.5524563","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524563","url":null,"abstract":"The results of successful experiments for investigating the earthquake effects on mechanism operation by using Cassino Parallel Manipulator (CaPaMan) as an earthquake simulator are presented. The experimental tests have been carried on by using a slider-crank and a four bar linkage as representing machine operations. The mechanism behavior has been experienced as strongly influenced when the mechanism motion has low speed as compared to earthquake disturbances. But even at high speed mechanisms are affected by the variable earthquake frequency.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128504857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Projects in mechatronics program: practical examples 机电一体化项目:实例
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524572
A. Rojko, M. Spaner, K. Jezernik
{"title":"Projects in mechatronics program: practical examples","authors":"A. Rojko, M. Spaner, K. Jezernik","doi":"10.1109/RAAD.2010.5524572","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524572","url":null,"abstract":"This paper describes organization, educational approach and contents of students' project work in mechatronic program at the University of Maribor, Slovenia. Program is executed by two faculties; Faculty of Electrical Engineering and Computer Science, and Faculty of Mechanical Engineering. Three courses Project I, II, III, are assigned to the project work in second and third year. The students in Project I are lead by the mentors. The portion of autonomous work is then increasing with each following course. Project work typically ends with a diploma. By a careful choice of interesting up-to-date real life problems, project work provides the students with the practical skills and a broad knowledge of the essential contents from mechanical engineering, control theory, electronics, power electronics, automatic control and mechatronics design, but it still allows the students to specialize in a field of their choice.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129560512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Experimental implementation of energy optimization by robot movement 机器人运动能量优化的实验实现
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524564
Z. Kolíbal, A. Smetanová
{"title":"Experimental implementation of energy optimization by robot movement","authors":"Z. Kolíbal, A. Smetanová","doi":"10.1109/RAAD.2010.5524564","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524564","url":null,"abstract":"This paper contains the results of energy measuring provided by verification of theory concerning optimal energy consumption by robot movement. The experimental verification of mathematical models was performed in the laboratory of the Institute of Production Machines, Systems and Robotics at Brno University of Technology. The measure results are arranged in tables and diagrams from which final evaluation for praxis follow.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126132066","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
Control of a hyper-redundant robot 超冗余机器人的控制
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524545
I. Dinulescu, A. Predescu, G. Boccolato, R. Tanasie, D. Cojocaru
{"title":"Control of a hyper-redundant robot","authors":"I. Dinulescu, A. Predescu, G. Boccolato, R. Tanasie, D. Cojocaru","doi":"10.1109/RAAD.2010.5524545","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524545","url":null,"abstract":"This paper deals with the subject of visual control of a hyper-redundant robot. This type of arm changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in the 3D space. A tentacle arm prototype was designed and the practical realization is now running. The mathematical modeling of such a robot takes under consideration both the kinematics and dynamics approach. A development environment for visual servoing application was designed and implemented. This environment includes both tools for simulating visual servoing algorithms (a graphic simulator), as well as tools for controlling hyper-redundant robots using a closed loop video control system. The visual servoing system does not answer in real time. The delay introduced by the image processing task is taken into consideration and simulations are performed trying to find a solution for this problem.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121802347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
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