发布求助
文献互助 智能选刊 最新文献

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)最新文献

筛选
英文 中文
General classification of robots. Size criteria 机器人的一般分类。尺寸标准
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002249
A. Dobra
{"title":"General classification of robots. Size criteria","authors":"A. Dobra","doi":"10.1109/RAAD.2014.7002249","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002249","url":null,"abstract":"Many papers discuss about robots (programming, control, arms, etc.). Because the “robot” subject became frequently used, it is useful to look inside, to components, where are they used, how, what is their size and so on. The first idea is to make a classification of robots. However, a generally classification is too difficult to be done. This paper proposes an overview about generally classification of robots and particularly analyzes the size criteria. Are the nanorobots, robots? Or no?","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129617147","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 the mechatronic systems using an integer arithmetics 用整数算法控制机电一体化系统
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002269
S. Chamraz, R. Balogh
{"title":"Control of the mechatronic systems using an integer arithmetics","authors":"S. Chamraz, R. Balogh","doi":"10.1109/RAAD.2014.7002269","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002269","url":null,"abstract":"Plotters are simple mechatronic systems with two degrees of freedom in the XY plane. Not only the pen plotters, but also cutting plotters, die-cut machines, welding machines or 3D printers use the same basic architecture. We consider planar plotter as a device with finite set of discrete achievable points. In our paper we present a control algorithm based on an integer arithmetics only. This not only speeds-up the calculations, but also avoids a rounding error and its accumulation. Comparing to the drawing interpolation methods already known for systems without additional dynamics, e.g. computer monitors, we consider also the inertia of the moving parts. Dynamics of the system is part of the control algorithm. Moreover, we present the optimal control of both axes with stepper motors in open loop system with respect to the technological limitations.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131502294","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
Reinforcement learning approach to generate goal-directed locomotion of a snake-like robot with screw-drive units 螺旋驱动蛇形机器人目标定向运动生成的强化学习方法
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002234
Sromona Chatterjee, Timo Nachstedt, F. Wörgötter, M. Tamosiunaite, P. Manoonpong, Y. Enomoto, Ryo Ariizumi, F. Matsuno
{"title":"Reinforcement learning approach to generate goal-directed locomotion of a snake-like robot with screw-drive units","authors":"Sromona Chatterjee, Timo Nachstedt, F. Wörgötter, M. Tamosiunaite, P. Manoonpong, Y. Enomoto, Ryo Ariizumi, F. Matsuno","doi":"10.1109/RAAD.2014.7002234","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002234","url":null,"abstract":"In this paper we apply a policy improvement algorithm called Policy Improvement with Path Integrals (PI2) to generate goal-directed locomotion of a complex snake-like robot with screw-drive units. PI2 is numerically simple and has an ability to deal with high dimensional systems. Here, this approach is used to find proper locomotion control parameters, like joint angles and screw-drive velocities, of the robot. The learning process was achieved using a simulated robot and the learned parameters were successfully transferred to the real one. As a result the robot can locomote toward a given goal.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131756194","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
Optimal design of a new spherical parallel manipulator 一种新型球面并联机器人的优化设计
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002253
H. Saafi, M. Laribi, M. Arsicault, S. Zeghloul
{"title":"Optimal design of a new spherical parallel manipulator","authors":"H. Saafi, M. Laribi, M. Arsicault, S. Zeghloul","doi":"10.1109/RAAD.2014.7002253","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002253","url":null,"abstract":"This paper deals with the optimization of a New Spherical Parallel Manipulator (N_SPM). The N_SPM is obtained by changing the kinematic of one leg of a classic spherical parallel manipulator. This change is carried out to reduce the presence of the singularity in the useful area of the workspace. The mobility of the N_SPM is similar to the classic one. First, the less-singular working mode of the N_SPM was identified then an optimization of the dexterity is made to eliminate the singularity from the useful workspace. Finally, the optimal N_SPM is presented.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"38 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132760960","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: 3
An underactuated mechanical hand: A first prototype 一个未被驱动的机械手:第一个原型
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002225
V. Niola, Cesare Rossi, S. Savino, Stefano Troncone
{"title":"An underactuated mechanical hand: A first prototype","authors":"V. Niola, Cesare Rossi, S. Savino, Stefano Troncone","doi":"10.1109/RAAD.2014.7002225","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002225","url":null,"abstract":"In the present paper a model of an underactuated tendon driven mechanical hand is proposed. The aim of the activity was to study the possibility of realization of a mechanical hand five fingers, the movement of which is realized by the use of one only actuator. The mechanism is conceived as an hand prosthesis. The main particularity of the device essentially consist in that it is based on an adaptive scheme. In this way it is possible to obtain that the three phalanxes of each of the fingers adapt their rotation to the grasped object shape. This will be obtained by non-extendible tendons. So each finger will grasp the object surface independently on the configuration of the finger itself and independently on the configuration of the other fingers.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124432613","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: 20
Modelling of AS/RS using hierarchical and timed coloured Petri nets 使用分层和定时彩色Petri网的AS/RS建模
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002226
Erik Kučera, B. Hrúz
{"title":"Modelling of AS/RS using hierarchical and timed coloured Petri nets","authors":"Erik Kučera, B. Hrúz","doi":"10.1109/RAAD.2014.7002226","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002226","url":null,"abstract":"Presently discrete-event dynamic systems represent a significant group of varied systems e.g. computer networks, manufacturing systems, communication systems, database systems etc. An important class of discrete-event systems are automated storage and retrieval systems (AS/RS). These systems are equipped by robots and other automation technology. The article deals with Hierarchical Coloured Petri nets applied in modelling of these systems. Main results of the article include brief description of the method and hierarchical model of storage system implemented by Hierarchical and Timed Coloured Petri net in CPN Tools software. We also discuss the possible application of the model and modelling method in practice.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127220553","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
Sensoric subsystem of automated guided vehicle: TCP communication between SIMATIC S7 PLC and Arduino 自动导引车传感子系统:SIMATIC S7 PLC与Arduino之间的TCP通信
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002258
M. Kajan, Jan Sovcik, F. Duchoň, L. Mrafko, Martin Florek, Peter Beno
{"title":"Sensoric subsystem of automated guided vehicle: TCP communication between SIMATIC S7 PLC and Arduino","authors":"M. Kajan, Jan Sovcik, F. Duchoň, L. Mrafko, Martin Florek, Peter Beno","doi":"10.1109/RAAD.2014.7002258","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002258","url":null,"abstract":"The cheap work with high precision is very necessary in industry for a long time. Research in robotics gives us opportunity for development of automatically guided vehicle controlled by PLC, which can be easily used for supplement transport inside factory, or even for human transport. Main aim of this work is to show, how to replace expensive industrial sensors with integrated communication interface by simple cheap open-source technology. Our solution is focused on TCP communication between Arduino and PLC. The Arduino is extended to Ethernet shield. It makes possibility to connect third-party devices to PLC and save I/O PLC modules. The Arduino pre-process data from ultrasonic and line-following sensors and combine them into one data packet which is send over the network to PLC server.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127340959","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
Two approaches to improve robot capabilities 提高机器人能力的两种方法
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002237
A. Vitko, Andrej Babinec, Martin Dekan, J. Paulusová, M. Dubravská
{"title":"Two approaches to improve robot capabilities","authors":"A. Vitko, Andrej Babinec, Martin Dekan, J. Paulusová, M. Dubravská","doi":"10.1109/RAAD.2014.7002237","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002237","url":null,"abstract":"The paper presents two approaches to instil advanced capabilities to the industrial and mobile robot. The first one is related to the redundant industrial robot, motion of which is to be optimized under kinematic restrictions caused by the robot operation in a tight space. To solve the task the solution of inverse kinematics problem was converted into a closed-loop optimization problem, due to which the control algorithm provided high precise and robust solution w.r.t outer influences. The algorithm was verified by simulation and at present runs its implementation on ABB IRB 4600 robot. The second one is related to learning fuzzy-neural navigation of a mobile robot in unknown environment cluttered with obstacles. The learning process runs in two modes. First the parameters of membership functions (MF) are updated, and then the walls of MFs are adaptively deformed so as to remove transversal swings from the robot trajectory. The navigation algorithm was verified by simulation and validated by the real mobile robot.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124354315","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: 0
Audio communication subsystem of multi-robotic system YROBOT 多机器人系统YROBOT的音频通信子系统
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002263
J. Micek, O. Karpis
{"title":"Audio communication subsystem of multi-robotic system YROBOT","authors":"J. Micek, O. Karpis","doi":"10.1109/RAAD.2014.7002263","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002263","url":null,"abstract":"The paper is devoted to the description of acoustic communication system, which is designed for communication between robots YROBOT. The communication system is an extension of the mobile device YROBOT and facilitates the development and verification of simple modulation schemes used in RF communication. The paper describes the motivation of the development of such an application, designed circuit solution, structure of the software and the results of preliminary experiments. In conclusion we note that most of the problems encountered in digital RF communications (such as signal attenuation, inter-symbol interference) occur even in the case of communication based on acoustics. It is clear that, thanks to much slower acoustic wave propagation, the above problems occur at lower frequencies of the modulation signal.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122175098","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: 2
Making a map for mobile robot using laser rangefinder 利用激光测距仪为移动机器人绘制地图
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002232
Oto Haffner, F. Duchoň
{"title":"Making a map for mobile robot using laser rangefinder","authors":"Oto Haffner, F. Duchoň","doi":"10.1109/RAAD.2014.7002232","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002232","url":null,"abstract":"A robot needs to have a representation of the environment to free of collision move. There are different types of environment maps in mobile robotics. The most used ones are metric maps. The aim of this paper is the proposal of algorithms for real robotic system that can map the environment. In this paper we deal with the analysis of properties of the laser scanner and the making of its model. Further there is proposed a method for making map based on the properties of the scanner and program implementation of this method. The result of this work is a program that maps the environment and which is usable on real robot system.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123182492","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信