2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)最新文献_第4页

Improvement of manipulating robot servo drives' control system 操纵机器人伺服驱动控制系统的改进

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002235

Ozhikenov Kassymbek, Tuleshov Erkebulan, Utebayev Ruslan, Tuleshova Azhar

{"title":"Improvement of manipulating robot servo drives' control system","authors":"Ozhikenov Kassymbek, Tuleshov Erkebulan, Utebayev Ruslan, Tuleshova Azhar","doi":"10.1109/RAAD.2014.7002235","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002235","url":null,"abstract":"There is developed the method of constructing the system of manipulating robots' control, essentially enhancing the quality indicators of their work. The work is devoted to the improvement of the method of adaptive control and study of its effectiveness by improving the quality of the course of dynamic processes in the system of manipulator's servo drives. The improvement is the implementation of adaptive control by direct modification of the transfer coefficient of servo drive controller, that causes simplification of the system and its technical implementation. A quantitative assessment of the course is carried out of dynamic processes in servo drives on the basis of construction of transient processes. The results of modeling dynamics system of manipulator's servo drives show that the dynamics compared with a normal system of coordinate regulated drive the nature of transient processes is improved and their indicators are provided. These studies have scientific and practical value, as one of many solutions to the problems of creation new highly efficient design of manipulating robots.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"65 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":"123852874","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

Underactuated 3-finger robotic gripper for grasping fabrics 用于抓取织物的欠驱动三指机器人夹具

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002271

P. Koustoumpardis, Kostas X. Nastos, N. Aspragathos

引用次数: 25

Collision planner — A probabilistic single stage smooth path planner for mobile robots 碰撞规划-移动机器人的概率单阶段平滑路径规划

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002255

A. Synodinos, N. Aspragathos

引用次数: 0

Robustness characteristics and optimal robust tuning of a 2DOF PI control for an uncertain IPDT plant 不确定IPDT对象2自由度PI控制的鲁棒特性及最优鲁棒整定

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002275

M. Huba, D. Soos

引用次数: 0

Multitasking robot-vision for supply holon execution in intelligent manufacturing 面向智能制造的多任务机器人视觉

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002227

T. Borangiu, S. Răileanu, N. Ivanescu, O. Stocklosa, O. Morariu

引用次数: 1

Cognitive robots of human character: Towards development of anthropomimetic robots with human personality 具有人类性格的认知机器人:走向具有人类性格的仿人机器人

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002278

A. Rodic, M. Jovanovic, I. Stevanovic, Danijela Jovanovic

{"title":"Cognitive robots of human character: Towards development of anthropomimetic robots with human personality","authors":"A. Rodic, M. Jovanovic, I. Stevanovic, Danijela Jovanovic","doi":"10.1109/RAAD.2014.7002278","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002278","url":null,"abstract":"It is expected in the future that Robots will be reliable partners of humans in accomplishing different activities and thereby to express high degree of mutual understanding, compatibility and coordination between each-other. In that sense, along with the advance physical abilities, personal robots will be required to perceive, understand and express (use) the emotions as well as to react in a socially accepted manner by enhancing in such a way their interaction with social environment. In a word, robot is expected to posses a character, i.e. personality traits like human as live model. Possessing of character is of great importance for robot-partners due to reason of better acceptance amongst the humans as well as in order to make robots to be able of better understanding people behavior. The fact proved is that high degree of interpersonal compatibility, emotive complementarity and mutual understanding within a team or group ensures better outcomes than the team consists of superior individuals of high intelligence quotients (IQs). People choose partners in a way to be complementary with them and ones that manifest in general sense high level of mutual understandings and agreements. On the other hand, people do not enjoy the opposed persons of incompatible or conflict character. From these reasons, we investigate in the paper the answers if possible and how to give robots different characters i.e. attributes of human personalities.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"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":"121702560","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

Development of a MEMS technology CSFH based microgripper 基于MEMS技术的CSFH微夹持器的研制

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002273

N. Belfiore, G. B. Broggiato, M. Verotti, R. Crescenzi, M. Balucani, A. Bagolini, P. Bellutti, M. Boscardin

引用次数: 7

Modeling and low order adaptive control of a DC motor driven electric cart 直流电机驱动电动小车的建模与低阶自适应控制

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002264

I. Rudas, J. Bitó, J. Tar, B. Kurtan

{"title":"Modeling and low order adaptive control of a DC motor driven electric cart","authors":"I. Rudas, J. Bitó, J. Tar, B. Kurtan","doi":"10.1109/RAAD.2014.7002264","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002264","url":null,"abstract":"In this paper a special adaptive control of a caster-supported Wheeled Mobile Robot (WMR) having two active wheels driven by electric DC motors is considered. In such electrical subsystems the first time-derivative of the motor current has a direct voltage control that is related to the 3rd time-derivative of the angle of the motor's axle, therefore the precise problem would be a 3rd order control task. Furthermore, when the tracked point of the WMR is different to the mass center point of the cart (in a rigid body approximation) the equations of motion become more complicated than those constructed for tracking the mass center point. Since the great majority of the control literature concentrates on the model based tracking of the mass center point we decided to build up the dynamic model of the WMR based on the fundamentals of Classical Mechanics. Following that a low (2nd order) adaptive controller was designed based on the use of Robust Fixed Point Transformations (RFPT) and the operation of this control method was investigated via simulation. The simulation results reveal that in spite of the kinematic constraints constraining the possible motion of this non-holonomic device the adaptive approach can improve the precision of the trajectory tracking of this 3rd order system.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"560 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":"130489953","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

3D map reconstruction with sensor kinect: Searching for solution applicable to small mobile robots 传感器kinect三维地图重建:寻找适用于小型移动机器人的解决方案

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002252

Peter Beno, F. Duchoň, Michal Tölgyessy, P. Hubinský, M. Kajan

引用次数: 11

A new depth camera calibration algorithm 一种新的深度摄像机标定算法

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002236

Petros G. Vasileiou, E. Psarakis

引用次数: 1