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检索条件"机构=Center for technologies in Robotics and Mechatronics components"

共 242 条记录，以下是121-130 订阅

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Human-robot interaction for robotic manipulator programming in Mixed Reality

Human-robot interaction for robotic manipulator programming ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Mikhail Ostanin Stanislav Mikhel Alexey Evlampiev Valeria Skvortsova Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The paper presents an approach for interactive programming of the robotic manipulator using mixed reality. The developed system is based on the HoloLens glasses connected through Robotic Operation System to Unity engine and robotic manipulators. The system gives a possibility to recognize the real robot location by the point cloud analysis, to use virtual markers and menus for the task creation, to generate a trajectory for execution in the simulator or on the real manipulator. It also provides the possibility of scaling virtual and real worlds for more accurate planning. The proposed framework has been tested on pick-and-place and contact operations execution by UR10e and KUKA iiwa robots.

关键词： Virtual reality Trajectory Collision avoidance Manipulators Programming Service robots

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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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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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State-based velocity profile for manipulator 3

State-based velocity profile for manipulator

引用

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

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

ISBN: (纸本)9781728124704

The study is focused on velocity control of a manipulator motion in the case when the precise execution of commands cannot be guaranteed because of the imperfection of the control system or interaction with the robot environment. The proposed approach combines the real-time state estimation with a trapezoidal velocity profile to optimize the performance of the linear Cartesian and point-to-point motions. © 2019 IEEE.

关键词： Robot applications

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Multi-collision Detection for Collaborative Robot 3

Multi-collision Detection for Collaborative Robot

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

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

引用

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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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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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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Automated robotic assembly of complex workpieces from regular components 3

Automated robotic assembly of complex workpieces from regula...

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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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Portable tracker for neurophysiological research of sport shooting

Portable tracker for neurophysiological research of sport sh...

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Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Antipov, V.M. Badarin, A.A. Grubov, V.V. Kazantsev, V.B. Hramov, A.E. Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya Str. 1 Innopolis 420500 Russia Laboratory of Advanced Methods for High-Dimensional Data Analysis Lobachevsky State University of Nizhni Novgorod 23 Gagarin ave. Nizhny Novgorod603950 Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University A. Nevskogo ul. 14 Kaliningrad236016 Russia Neurotechnology Deparment Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod603022 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

In this work we present the development process of a wireless portable module. It is developed to record various characteristics during sport shooting, such as automatic detection of the moment of shot and barrel movement during aiming, taking into account the peculiarities of its use in neurophysiological research. We propose an approach allowing to synchronize devices in a wireless local network with high accuracy (synchronization accuracy was 2 ms), as well as a method of logging the recorded data at a sampling rate of up to 2 kHz on an onboard flash drive. © 2022 SPIE.

关键词： Neurophysiology

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