{"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}
P. Koustoumpardis, Kostas X. Nastos, N. Aspragathos
{"title":"Underactuated 3-finger robotic gripper for grasping fabrics","authors":"P. Koustoumpardis, Kostas X. Nastos, N. Aspragathos","doi":"10.1109/RAAD.2014.7002271","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002271","url":null,"abstract":"In apparel industries, the handling of fabrics still remains a manual work and its automation is a real challenge. In this paper, a three finger gripper is developed for grasping (pinching and clamping) fabrics under different ways. It is inspired by the human fingers movements in order to grasp a piece of fabric that is laid on a table. The conceptualization, the design and the prototype of the gripper are presented, along with the kinematic and static analysis of its mechanism. The proposed versatile gripper is based on a simple mechanism, where the two of the three fingers (pointer and middle) are underactuated by a tendon. Also, the plan for the sequence and the synchronization of the movements of the fingers is defined according to the grasping task. A prototype of the gripper is produced using 3D printing technique, which keeps the total cost very low. The prototype has been tested experimentally under several grasping tasks, where its agility is demonstrated.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"20 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":"124099281","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}
{"title":"Collision planner — A probabilistic single stage smooth path planner for mobile robots","authors":"A. Synodinos, N. Aspragathos","doi":"10.1109/RAAD.2014.7002255","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002255","url":null,"abstract":"In this paper a path planning algorithm is proposed for mobile robots. The algorithm utilizes piecewise cubic splines to create a smooth path in the 2D workspace of a mobile robot, while specifying targeted random control points based on the collision detection and penetration characteristics of the candidate paths. The main advantage of the proposed method compared to other probabilistic path planners is that the samples generated are taken only in the free space connecting the start and goal configuration, thus utilizing the geometric characteristics to direct the sampling in proper areas. A wavefront inspired searching algorithm, called collision wave, is used to explore the configuration space, that generates feasible paths that can then be sorted according to a metric. The results show that the directed randomness of the control points reduces the required collision checks and the search space towards high efficiency.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"21 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":"116813572","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}
{"title":"Robustness characteristics and optimal robust tuning of a 2DOF PI control for an uncertain IPDT plant","authors":"M. Huba, D. Soos","doi":"10.1109/RAAD.2014.7002275","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002275","url":null,"abstract":"A comparison of different two degree of freedom (2DOF) PI controller tuning methods [1] in control of an integral plus dead time system (IPDT) showed significant advantages of the new tool for an optimal and robust tuning based on the performance portrait method. The presented analysis will now be further extended by considering uncertainties of both plant parameters and by derivning robustness characteristics of the corresponding closed loops expressing influence of a parameter uncertainty on a chosen performance measure under specified shape requirements.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"31 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":"115393456","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}
T. Borangiu, S. Răileanu, N. Ivanescu, O. Stocklosa, O. Morariu
{"title":"Multitasking robot-vision for supply holon execution in intelligent manufacturing","authors":"T. Borangiu, S. Răileanu, N. Ivanescu, O. Stocklosa, O. Morariu","doi":"10.1109/RAAD.2014.7002227","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002227","url":null,"abstract":"The paper presents a solution which integrates the robotized part resupply process in the overall production schedule of a distributed Manufacturing Execution System, which is temporarily altered but not interrupted. The semi-heterarchical control system, based on the PROSA reference architecture, is extended with a new type of holon - Supply - the execution of which is triggered at local storage depletion by shop floor robotic resources in heterarchical control mode. The execution of the Supply Holon is based on a dual intelligent material feeding unit operated by a multitasking robot-vision system; special safety techniques are developed to avoid robot collisions in the bulk parts supplying workstation. Experimental results are reported for a dual-part feeder organization, which reduces overall supply time up to 30% and increases robot usage by 20%.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"43 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":"123464773","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}
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}
N. Belfiore, G. B. Broggiato, M. Verotti, R. Crescenzi, M. Balucani, A. Bagolini, P. Bellutti, M. Boscardin
{"title":"Development of a MEMS technology CSFH based microgripper","authors":"N. Belfiore, G. B. Broggiato, M. Verotti, R. Crescenzi, M. Balucani, A. Bagolini, P. Bellutti, M. Boscardin","doi":"10.1109/RAAD.2014.7002273","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002273","url":null,"abstract":"This paper describes the design, simulation, construction process and experimental analysis of a microgripper, which makes use of a new concept hinge, called CSFH (Conjugate Surfaces Flexure Hinge). The new hinge combines a curved cantilever beam, as flexible element, and a pair of conjugate surfaces, whose contacts depend on load conditions. CSFH hinges improve accuracy and guarantee that minimum stress conditions hold within the flexible beam. This microgripper is designed for Deep Reactive-Ion Etching (D-RIE) construction process and comb-drive actuation. Theoretical basis and Finite Element Analysis (FEA) simulations have been employed in order to predict the feasibility of the device under construction. Finally, some experimental evidence of the construction process has been provided.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"114 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":"133904468","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}
{"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}
Peter Beno, F. Duchoň, Michal Tölgyessy, P. Hubinský, M. Kajan
{"title":"3D map reconstruction with sensor kinect: Searching for solution applicable to small mobile robots","authors":"Peter Beno, F. Duchoň, Michal Tölgyessy, P. Hubinský, M. Kajan","doi":"10.1109/RAAD.2014.7002252","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002252","url":null,"abstract":"Although it is relatively easy to equip mobile robot with Kinect sensor, implementation of mapping algorithm can be non trivial. In this article, we describe sensor device, robot map formats and two main approaches to 3D reconstruction, problem closely connected to SLAM mapping problem with Kinect sensor. We experimentally evaluate reference implementations of both algorithms, compare their results and discuss published and possible improvements of both approaches.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"30 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":"131927398","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}
{"title":"A new depth camera calibration algorithm","authors":"Petros G. Vasileiou, E. Psarakis","doi":"10.1109/RAAD.2014.7002236","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002236","url":null,"abstract":"Camera calibration constitutes a basic problem in many robot applications. In this paper two algorithms tailored to the calibration of the parameters of a depth camera are proposed. More precisely, a closed form solution that requires the coordinates of three corresponding points in the world and the camera coordinates systems, for the noise free case is proposed. Moreover, a robust algorithm that can be used for the successful estimation of the parameters in the presence of both uniform noise that models the quantization error along the axes of the “volume”, as well as of a sparse noise component for the modeling of large errors presented in depth measurements, is presented. From the simulation results we have obtained, the proposed methods seem to outperform in terms of the average worst case estimation errors frequently used algorithms for the problem at hand.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"1993 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":"130842447","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}