The conference, in its customary full name 2012 IEEE internationalconference on automation, Quality and Testing, robotics - THETA 18th edition, follows the tradition of the 17 automation and testing related scientifi...
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CREA robot is designed to climb up concrete walls. The robot uses the suction mechanism to provide adhesion and wheel mechanism for locomotion. Eleven chambers which are connected to one common reservoir are responsib...
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ISBN:
(纸本)9789897580406
CREA robot is designed to climb up concrete walls. The robot uses the suction mechanism to provide adhesion and wheel mechanism for locomotion. Eleven chambers which are connected to one common reservoir are responsible to produce adhesion force. A controller is developed to independently control each chamber while satisfying certain criteria on the safety of the robot. It is also designed to reach minimum friction between active inflatable seals and wall. In conclusion, the controller is able to successfully meet the conditions of stability, minimum friction and safety.
Risk analysis in combination with terrain classification is a common approach in mobile robotics to adapt robot control to surface conditions. But for climbing robots it is hard to specify, how the robotic system and ...
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The paper proposes three Gain-Scheduling (GS) control design approaches dedicated to the position control of electromagnetic actuated clutch systems. The initial nonlinear mathematical model of the plant is simplified...
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Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, with the objective of defining a mathematical model which accurately repre...
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ISBN:
(纸本)9789897580406
Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, with the objective of defining a mathematical model which accurately represents the behaviour of AGVs in the system. AGVs can move freely in the warehouse (an open path AGV system is adopted), and their transportation activities can be modelled as a sequence of elementary or basic actions. In the paper, a coloured Petri net (CPN) model is proposed. It allows representing any sequence of elementary actions of AGVs (including pick-up and drop-off activities), and accurately models the interactions among AGVs, in order to guarantee the safety during the execution of activities. The CPN model can be used to analyse and implement deadlock prevention and deadlock recovery strategies, and it has been adopted in the building of a discrete-event simulator which is employed to analyse the system's performance and to evaluate scheduling policies for transportation tasks.
In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. The manipulation system we developed was designed starting from...
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ISBN:
(纸本)9789728865825
In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. The manipulation system we developed was designed starting from a deeply study of the human limb from the anatomical, physiological and neurological point of view. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. Thanks to this biomimetic approach we obtained a system that can perform movements similar to those of the natural limb. The control system is organized in a hierarchical way. The low level controller emulates the neural circuits located in the human spinal cord and is charged to reproduce the reflexes behaviors and to control the arm stiffness. The high level control system generates the arm trajectory performing the inverse kinematics and furnishing the instantaneous muscles reference position. In particular we implemented the Inverse kinematic using a gradient based algorithm;at each step the actuators movements are arranged in order to decrease the distance between the wrist and the target position. Simulation and experimental results shows the ability of the control system in governing the arm to follow a predefined trajectory and to perform human like reflexes behaviors.
Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. Through self-learning the...
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ISBN:
(纸本)9789897585227
Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. Through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. These processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.
In the paper we recover the static characteristic of Wiener-Hammerstein (sandwich) system from inputoutput data. The system is excited and disturbed by random processes with arbitrary distribution. Two kernel-based es...
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Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human- robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be inter...
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ISBN:
(纸本)9789898565211
Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human- robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be interesting low-cost actuators for such purposes. To fully realize the (desired) higher sensitivity and at the same time maintain a good control quality, detailed models of the robot's own components are required. For pneumatic muscles, their hysteresis characteristic is a challenging property. In this paper we present a hysteresis model based on a Prandtl-Ishlinskii operator approach and evaluate the resulting performance when the inverse model is used for compensation in the position controller. The evaluation is done on a real multi-axes robot arm.
An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can ...
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ISBN:
(纸本)9789898565211
An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can be solved in various ways. In this paper, tracking is provided using proportional-integral (PI) or fuzzy logic controller (FLC). Unfortunately, tracking is never perfect, due to uncertainties and obstacles can change their positions in time. In order to overcome these difficulties, additional correction controller must be used. Here is proposed fuzzy controller, which slightly changes control action of the tracking controller in order to prevent collision with obstacles. This approach is proved to be efficient even in dynamic environments. Simulation results are presented as illustration of the proposed approach.
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