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检索条件"机构=Center for Technologies in Robotics and Mechatronics Components Innopolis University"

共 264 条记录，以下是121-130 订阅

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Unmanned Aerial Vehicle Path Planning for Exploration Mapping

Unmanned Aerial Vehicle Path Planning for Exploration Mappin...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Victor Massague Respall Dmitry Devitt Roman Fedorenko Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This paper presents a new path planner for the exploration of previously unknown environments. The proposed algorithm uses a Next-Best-View (NBV) fashion to decide the movements ahead. A Rapidly-Exploring Random Tree (RRT) is built and the node with the highest gain is the next configuration to execute, based on the amount of unmapped volume in the field of view (FoV) of the sensor employed. The proposed planner is able to send online a 3D occupancy map of the volume and work with a variety of different depth sensors. The performance is analyzed in various challenging simulations, such as exploration of a city street or a narrow tunnel. Moreover, real experiments indoor and outdoor were conducted to further validate the proposed approach results. In cases with large scale volumes, it can cover a wide range in affordable flight time.

关键词： Three-dimensional displays Laser radar Urban areas Robot sensing systems Sampling methods Path planning Unmanned aerial vehicles

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Automated robotic assembly of complex workpieces from regular components 3

Automated robotic assembly of complex workpieces from regula...

引用

3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Kozlov, Pavel Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

The paper deals with the automated robotic assembly of complex casting molds from regular components. It addresses the issues od model decomposition and assembly sequence taking into account particularities of the gluing process and shape particularities. The obtained results were validated via simulation and experimental study dealing with assembly of particular workpieces with UR10e robot. © 2019 IEEE.

关键词： Industrial manipulators

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Obstacle avoidance for robotic manipulator using Mixed reality glasses 3

Obstacle avoidance for robotic manipulator using Mixed reali...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Evlampev, A. Ostanin, M. Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

The problem of finding the shortest path for manipulators with obstacle avoidance has many solutions. The paper presents the usage of well-known methods for solving that problem using mixed reality glasses. Glasses contain the Spatial mapping module, presented in the form of an continuously updating mesh. Analyzing space through mixed reality glasses, we have developed algorithms for obtaining the shortest path in the Cartesian and Joint spaces. In the beginning, we implement A∗ simple algorithm and then realized the improved RRT algorithm. The approaches were verified using Unity, Microsoft HoloLens and 6 DOF robot UR10e. © 2019 IEEE.

关键词： Motion planning

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Convex Optimization-based Motion Planner for Linear Variable Stiffness Actuators 2

Convex Optimization-based Motion Planner for Linear Variable...

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2nd International Conference on Control and Robot Technology, ICCRT 2019

作者： Savin, Sergei Golousov, Svyatoslav Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781450372527

This paper is focused on control of variable stiffness actuators (VSA). One of the new approaches in this area is based on a linear VSA model, whose main features are the directly controlled linear stiffness dynamics and bilinear output torque model. The paper tackles the problem of motion planning for linear VSA. While the problem appears to be non-convex, the study demonstrates that it is possible to introduce a new parametrization of the model that produces a convex optimization formulation. It is proposed to limit the power input allowed for the controller, making sure that it does not exceed the physical capabilities of the motors implementing the trajectories. The paper shows the behavior of the planer when it reaches the limits of the allowed power input. The paper demonstrates the use of the proposed planner in planning trajectories for a lower-limb exoskeleton performing sit-to-stand transfer. © 2019 ACM.

关键词： Convex optimization

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Trajectory optimization for underactuated systems using reinforcement learning: Cart-pole problem 3

Trajectory optimization for underactuated systems using rein...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Khakimov, Pavel Savin, Sergei Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

In this article, trajectory optimization of an inverted pendulum on a cart with machine learning tools is analyzed. Reinforcement learning and Q-learning algorithm are used for searching and optimization of trajectori... 详细信息

ISBN: (纸本)9781728124704

关键词： Poles

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Convex Optimization-based Stiffness Control for Tensegrity Robotic Structures

Convex Optimization-based Stiffness Control for Tensegrity R...

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Mediterranean Conference on Control and Automation (MED)

作者： Sergei Savin Oleg Balakhnov Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

In this paper, the problem of controlling compliance of a robotic tensegrity structure (finding the state of the structure which produces desired stiffness) is discussed. Tensegrity structures have a number of unique properties: they are well suited for uncertain environments, are easily deployed, impact resistant, foldable and light-weight and thus provide a desirable component for a number of robotics applications. They are currently being studied as a structural element of robotic extraterrestrial probes, crawling robots, swimming robots and others. The compliance control problem here is solved by a convex relaxation of the original nonconvex program, which in turn is done by introducing two linear models: one for the stiffness matrix and one for the elastic forces. Solution accuracy is controlled by introducing an iterative scheme, solving the convex problem on each iteration. Proposed algorithm converges providing accuracy better than 10 -2 N/m in terms of stiffness using only 10 iterations of the algorithm, and the accuracy of force equilibrium is better than 1 N.

关键词： Robots Force Collision avoidance Optimization Mathematical model Jacobian matrices Task analysis

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Algebraic approach to the stiffness model reduction for manipulators with double encoders

Algebraic approach to the stiffness model reduction for mani...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Stanislav Mikhel Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

The paper is focused on the problem of the stiffness model estimation that could be used in combination with double encoders for the detection of the compliance errors and applied forces. Algebraic approach is proposed based on knowledge of link stiffness parameters and kinematics of the robot. The application of this technique is demonstrated in the example of a 3-link manipulator.

关键词： Jacobian matrices Parameter estimation Robot kinematics Kinematics Manipulators Reduced order systems Numerical models

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Multi-collision Detection for Collaborative Robot 3

Multi-collision Detection for Collaborative Robot

引用

3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Popov, Dmitry Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

This study is focused on the problem of robot physical interaction with environment. Physical interaction in case of collaborative industrial robots means one or more physical contact with robot and work piece, robot and another robot, robot and human, robot and environment. Depending on location on the robot surface where this contact or collision happened, robot reaction should be different in order to provide safety and increase work cell performance if possible. In this work, algorithm for multiple contact point identification is presented. The algorithm is capable of running with 100 Hz loop and 1.09 cm RMSE. The approach was tested in the simulation with KUKA iiwa but can be extended to any robot with torque sensing capabilities. © 2019 IEEE.

关键词： Industrial robots

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Numerical Optimisation-Based Control Pipeline for Robot Arm for Machine Learning Experiments

Numerical Optimisation-Based Control Pipeline for Robot Arm ...

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2019 International Russian Automation Conference, RusAutoCon 2019

作者： Savin, Sergei Golousov, Svyatoslav Ivanov, Mikhail Klimchik, Alexander Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728102658

In this paper, a control pipeline for an industrial robot arm is presented. The robot is proposed as a test bench for machine learning experiments, where it is important to have a reliable and repeatable behavior of the robot while its control system needs to be flexible. The proposed controller is model-based, and is implemented as a quadratic program, imitating feedback linearization and computed torque controller with stable control error dynamics. The paper discusses practical aspects of the software suit developed for the project and presents a favorable set of the third party packages which allowed to create a fast and reliable implementation of the proposed control scheme. The properties of the proposed control were studied using simulation in the Gazebo environment. © 2019 IEEE.

关键词： Quadratic programming

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Convex Optimization-based Motion Planner for Linear Variable Stiffness Actuators 2019

Convex Optimization-based Motion Planner for Linear Variable...

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Proceedings of the 2019 2nd International Conference on Control and Robot Technology

作者： Sergei Savin Svyatoslav Golousov Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781450372527

关键词： linear variable stiffness actuator trajectory planning convex optimization

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