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

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Fuzzy tracking controller for shape optimized robotic system 形状优化机器人系统的模糊跟踪控制器
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002239
J. Cigánek, F. Noge, G. Galik, Roman Gogola
{"title":"Fuzzy tracking controller for shape optimized robotic system","authors":"J. Cigánek, F. Noge, G. Galik, Roman Gogola","doi":"10.1109/RAAD.2014.7002239","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002239","url":null,"abstract":"The paper deals with an effective approach of the robust controller design, based on the fuzzy logic. We developed algorithms with variable sampling for trajectorytracking. The proposed controller design and sampling algorithms are verified on the case study of the chosen mechatronic system. All numerical and graphical results are obtained in Co-simulation of combination two different modeling systems - Matlab-Simulink and MSC Adams. The paper shows the methodology of energy cost reduction using shape optimized model based on the system analysis made in system ANSYS.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"60 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":"126576494","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
Discrete-time asymptotic reference tracking for an industrial robot 工业机器人的离散渐近参考跟踪
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002279
A. Kozáková
{"title":"Discrete-time asymptotic reference tracking for an industrial robot","authors":"A. Kozáková","doi":"10.1109/RAAD.2014.7002279","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002279","url":null,"abstract":"The paper deals with the design of a discrete-time state space compensator to track a reference command. This approach called Command Generator Tracker (CGT) covers a broad class of reference signals that can be described by a linear differential equation with constant coefficients. The design technique is LQ-based and its principle consists in extending the plant model so that the resulting compensator includes modes of both the reference signal and the disturbance. In such a case, proper reference tracking is guaranteed. Standard LQ problem solution is then applied for the extended system yielding feedback and feed-forward gains of the CGT compensator simultaneously. Discrete-time CGT design for an industrial robot illustrates its implementation possibilities in motion control.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"34 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":"132045191","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
Adapting periodic motion primitives to external feedback: Modulating and changing the motion 使周期运动原语适应外部反馈:调制和改变运动
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002228
A. Gams, T. Petrič
{"title":"Adapting periodic motion primitives to external feedback: Modulating and changing the motion","authors":"A. Gams, T. Petrič","doi":"10.1109/RAAD.2014.7002228","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002228","url":null,"abstract":"Learning and execution of trajectories using dynamic movement primitives (DMPs) incorporates properties, which make them widely accepted and used in synthesizing robotic motions. The properties include fast, robust and numerically undemanding learning on one side, and indirect dependence on time, response to perturbation and possibility to modulate during the execution. Modulation properties include both spatial and temporal changes to either discrete or periodic motions. In this paper we evaluate the means of adapting periodic motions using either force or position feedback in order to permanently modify the motion, i. e. learn a new trajectory in order to comply with the conditions of the external environment. We evaluate three different approaches: a modulation approach using repetitive control; and two learning approaches of changing the motion. Simulation results have shown that all three approaches can be used with minor differences amongst them. Tests on a 7DOF KUKA LWR robot have shown that the approaches can be used in the real-world.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"9 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":"132136934","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
Developing an embedded system based on a real-time version of Linux 开发一个基于实时版Linux的嵌入式系统
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002248
P. Andris, K. Dobrovodský
{"title":"Developing an embedded system based on a real-time version of Linux","authors":"P. Andris, K. Dobrovodský","doi":"10.1109/RAAD.2014.7002248","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002248","url":null,"abstract":"The authors have developed a mechatronic tracking system controlled by a hard real-time embedded Linux based system. The control software is implemented on a standard PC/104-Plus embedded single board computer (CoreModule745 with Intel Atom processor). The paper is focused on various aspects of developing an embedded version of Linux software that are mostly not dependent on the application. The reader is expected to be an experienced Linux user.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"33 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":"123359520","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
Intelligent modular service mobile robot ROBCO 12 for elderly and disabled persons care 面向老年人和残疾人护理的智能模块化服务移动机器人ROBCO 12
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002238
N. Chivarov, Stefan Shivarov, Kaloyan Yovchev, D. Chikurtev, N. Shivarov
{"title":"Intelligent modular service mobile robot ROBCO 12 for elderly and disabled persons care","authors":"N. Chivarov, Stefan Shivarov, Kaloyan Yovchev, D. Chikurtev, N. Shivarov","doi":"10.1109/RAAD.2014.7002238","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002238","url":null,"abstract":"ROBCO 12 is an Intelligent Modular Service Mobile Robot for Elderly and/or Disabled Persons Care. This robot will “live” in the home of the elderly and/or disabled person and help him/her 24 hours a day. It will be able to remind him/her to take medications, it will serve food and drinks, will turn on/off electronic devices, will alert when his/her health is getting worse and will connect to his physician, relatives or with the emergency services telephone 112.","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":"123677625","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: 13
Transferring image processing algorithms on application with multi arm robot and mobile phone 传输图像处理算法在多臂机器人和手机上的应用
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002267
Marek Sukop, M. Hajduk, M. Vagaš
{"title":"Transferring image processing algorithms on application with multi arm robot and mobile phone","authors":"Marek Sukop, M. Hajduk, M. Vagaš","doi":"10.1109/RAAD.2014.7002267","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002267","url":null,"abstract":"This article deals with application that serves for controlling of movements for multi arm robot with possibility to sent its communication on mobile phone. Resultant application was created with the help of equipments: dual arm robot, camera, computer and mobile phone or tablet with accelerometer's sensor and bluetooth interface. During the phase of realization was necessary to create four software applications: software for robot movements in robot control system, software for OS android, software for communication in computer and finally software for image processing in computer. At article is mainly described part of program for image processing where we wanted to test transmission of adapted algorithms from robotic soccer (MiroSot category). Last part contains obtained pictures from software for image processing with real results.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"15 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":"126999548","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: 4
Localization of iRobot create using inertial measuring unit 使用惯性测量单元创建iRobot的定位
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002261
M. Guran, Tomas Fico, Anezka Chovancova, F. Duchoň, P. Hubinský, J. Dubravsky
{"title":"Localization of iRobot create using inertial measuring unit","authors":"M. Guran, Tomas Fico, Anezka Chovancova, F. Duchoň, P. Hubinský, J. Dubravsky","doi":"10.1109/RAAD.2014.7002261","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002261","url":null,"abstract":"This article deals with the localization of an iRobot Create robotic platform using an inertial measurement unit (IMU). The used IMU consists of a gyroscope and accelerometer. The implementation of the IMU in the robotic platform allows the use of complex localization methods. We compare results of experimental measurement using odometry, gyroscope, accelerometer and their combination. In order to fuse sensor signals, a Complementary and a Kalman filter are designed and tuned. Various methods are used to verify results, such as UMBmark and rotation test. The combination of the IMU and mentioned filters provides better results of the localization in comparison with the odometry.","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":"128483597","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: 4
Comparing approaches to quadrocopter control 比较方法的四旋翼飞行器控制
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002241
Martin Florek, M. Huba, F. Duchoň, Jan Sovcik, M. Kajan
{"title":"Comparing approaches to quadrocopter control","authors":"Martin Florek, M. Huba, F. Duchoň, Jan Sovcik, M. Kajan","doi":"10.1109/RAAD.2014.7002241","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002241","url":null,"abstract":"The present paper compares three approaches on a quadrocopter orientation and altitude control: the most frequently used PD and PID control, the Integral Backstepping methods and a nonlinear decomposition control. All these methods are verified and evaluated by simulation. The whole proposal was applied in Matlab with the described nonlinear model. The comparison shows that PD and PID control has the slowest entire controlling and has second the highest energy efficiency. The integral backstepping method has the fastest altitude control and the advantage was the highest energy efficiency. The method of nonlinear decomposition was the fastest when controlling the orientation (pitch, roll and yaw). The work offers a basis to physical realization and application of the designed control that will be carried out in the next phase.","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":"132978432","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
Design and fabrication with industrial robot as brick-laying tool and with custom script utilization 用工业机器人作为砌砖工具，并使用定制脚本进行设计和制作
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002251
M. Raković, M. Jovanović, B. Borovac, Bojan Tepavčević, M. Nikolic, Mladen Papovic
{"title":"Design and fabrication with industrial robot as brick-laying tool and with custom script utilization","authors":"M. Raković, M. Jovanović, B. Borovac, Bojan Tepavčević, M. Nikolic, Mladen Papovic","doi":"10.1109/RAAD.2014.7002251","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002251","url":null,"abstract":"This paper presents methodology and implementation of parametric architectural design of bricklaying walls fabricated by industrial robotic arm. As a design tool Grasshopper is used, a visual programming editor that runs within the Rhinoceros 3D CAD application. Grasshopper offers a range of objects for creating parametric models including bricklaying walls. However it lacks the ability of integration with fabrication tools. To overcome this problem, a custom C# script has been developed. As the fabrication tool, the ABB-IRB 140 robotic arm is used. Thus the C# script is written in such a way to obtain the RAPID code for controlling ABB industrial robots. The C# script enabled automated generation of RAPID code in accordance to the Grasshopper generated geometries of walls. The RAPID code is firstly tested in simulation environment, afterwards is used to control the robot to fabricate various types of walls.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"173 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":"133634099","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
Design constraints and features for a robotic system cutting pipelines in nuclear vessels 核能船舶管道切割机器人系统的设计约束与特点
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002268
M. Ceccarelli, Giuseppe Carbone, E. Bastianini, Agostino Rivieccio, S. Alfieri
{"title":"Design constraints and features for a robotic system cutting pipelines in nuclear vessels","authors":"M. Ceccarelli, Giuseppe Carbone, E. Bastianini, Agostino Rivieccio, S. Alfieri","doi":"10.1109/RAAD.2014.7002268","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002268","url":null,"abstract":"This paper presents proposals for a robotic system that will be used for pipeline cutting in decommissioning of nuclear plants for freeing nuclear vessels from their concrete frames. Environment characteristics are discussed to determine design constraints that together with operation requirements have brought to design considerations that are used to outline possible system solutions. The presented system is a special service application of robotic systems as due to the peculiarities of radioactive environment and disassembly operations.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"12 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":"123107036","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
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