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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Kuniaki Kawabata Liang Ma Jianru Xue Sho Yokota Yasue Mitsukura Nanning Zheng RIKEN-XJTU Joint Research Unit RIKEN Saitama Japan Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Shaanxi P.R. China Department of Mechatronics Engineering Toyo University Saitama Japan Department of System Design Engineering Keio University Yokohama-shi Japan

This paper proposes a trajectory generation method for mobile robot by extending the trajectory segment iteratively. Considering the practical uses of the mobile robot like service purpose in the real world, it requires that the trajectory planning is done adaptively by depending on the situation changes. For that, designated waypoints for future motion are given sequentially from the environment recognition process and thus trajectory generation should be processed in dynamical situation. In this paper, we described an iterative extension of the polynomial-based trajectory by considering the designated waypoint, the continuity with the existing trajectory segment and the stoppage constraint at the end of each trajectory segment. Proposed method provides the next trajectory segment for a certain period by referring to these conditions. Resultantly, iteratively generated trajectory segments connect each other smoothly and organize a single continuous trajectory. Computer simulations with proposed method were conducted and the results were shown. They showed proposed method realizes trajectory generation based on sequential extension of the trajectory segment.

关键词： Trajectory Mobile robots Polynomials Mathematical model Motion segmentation Planning

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Dynamic Analysis of a Parallel Manipulator-Based Multi-function Mobility Assistive Device for Elderly

Dynamic Analysis of a Parallel Manipulator-Based Multi-funct...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ahmed Asker Samy F. M. Assal A. M. Mohamed Mechatronic and robotics Dept. Egypt Japan University of Science and Technology New Borg El Arab City Alexandria Egypt Dept. of Production Engineering and Mechanical Design Tanta University Tanta Egypt Electrical Engineering Department Assiut University Assiut Egypt

ISBN: (纸本)9781479986989

Dynamic simulation of manipulators interacting directly with human is crucial for predicating their performance before the actual use. This paper describes the dynamic analysis and simulation of a novel multi-function mobility assistive device for elderly. The device is designed to help patients who suffer from degradation of the lower limbs muscular strength. Rather than one function device, the proposed device is intended to assist in different lower limb activities, namely, sit to stand and walking activities as well as transfer paralyzed patients from bed to wheelchair and help them stand in upright position to improve blood circulation. The device is based on a non-conventional structure of a 3-RPR planer parallel manipulator which has high rigidity due to the parallel structure. It has some interesting kinematic advantages that facilitate structure and control design. Dynamic model for the assistive manipulator is derived using the first type of Lagrange's equations. A PD-computed torque controller is tuned using genetic algorithm. Simulation results prove high performance of the proposed device in terms of the low tracking error and the proper actuator force.

关键词： Manipulator dynamics Mathematical model Kinematics Assistive devices Actuators Legged locomotion

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Robot control as a service — Towards cloud-based motion planning and control for industrial robots

Robot control as a service — Towards cloud-based motion pla...

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International Workshop on Robot Motion and Control (RoMoCo)

作者： Axel Vick Vojtěch Vonásek Robert Pěnička Jörg Krüger Department of Industrial Automation Technology Technische Universität Berlin Berlin Germany Faculty of electrical engineering Czech Technical University in Prague Prague Czech Republic Department of Robotics and Automation Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany

This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented.

关键词： Planning Collision avoidance Service robots Robot kinematics Robot sensing systems Interpolation

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Beyond design for Manufacture: A design Innovation Framework

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design Management Review 2016年第3期27卷

作者： Jea Hoo Na Youngok Choi David Harrison Who achieved his PhD in design management at Brunel University London with a comprehensive study of design innovation in UK manufacturing companies is a design researcher at Brunel. He has a background in design strategy and innovation industrial design and mechanical engineering and has worked for both commercial and academic projects. His main research interests are understanding the full spectrum of design in commercial as well as social contexts. Senior lecturer in the College of Engineering Design and Physical Sciences at Brunel University London. Her research interests encompass the role of design in economic growth and improving the quality of people's lives and hence sustainable development. The strategic use of design underpins much of her research activities. She has been involved in many design research projects involving design policy and strategy the social value of design design for education and social innovation. She has also worked on projects with industry partners including Samsung. BSc in engineering science and a PhD in robotics. He is a chartered engineer a member of the IET (Institution of Engineering and Technology) and a fellow of the Higher Education Academy. Harrison is also a professor in the department of design at Brunel University London and has research interests in sustainable design and innovative approaches to electronic manufacturing. He has developed patented and successfully licensed a number of new manufacturing processes in printed electronics.

Despite the advantages of using design on a larger scale than simply the product level, many manufacturing companies can't see their way to design as a strategy or a way to improve business management. A framework can help them view the big picture from a design innovation standpoint. Manufacturing firms that hope to achieve innovation—in their products, in their processes, and in their own organizations—can use this framework to identify opportunities, prioritize problem‐solving, and work toward systematic improvement.

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Iterative trajectory generation for mobile robot to pass through the waypoints

Iterative trajectory generation for mobile robot to pass thr...

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Asian Control Conference

作者： Kuniaki Kawabata Liang Ma Jianru Xue Sho Yokota Yasue Mitsukura Nanning Zheng RIKEN-XJTU Joint Research Unit RIKEN Wako Saitama Japan Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Shaanxi P.R. China Department of Mechatronics Engineering Toyo University Kawagoe-shi Saitama Japan Department of System Design Engineering Keio University Yokohama-shi Kanagawa Japan

This paper proposes a trajectory generation method for mobile robots based on trajectory segment extension. The trajectory for mobile robot must be generated by depending on the conditions during the robot traveling. Such conditions to design the trajectory are given when the robot comes around those locations and are not provided before arriving around there. From this point of view, we have started to develop an on-line trajectory generation method based on extending the trajectory segment that is the low-order polynomial curve. We already proposed a trajectory extension approach calculated with sequentially designated waypoints in the absolute time. In this paper, we improved the method by utilizing the relative time expression for extension of the trajectory segment. Simulations with proposed method were done and the results were shown in this paper.

关键词： Trajectory Mathematical model Mobile robots Polynomials Electronic mail Planning

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Evaluation the unworn surface in case of femoral head with no "pre-wear" data 11

Evaluation the unworn surface in case of femoral head with n...

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11th International Scientific Conference on Coordinate Measuring Technique, CMT 2014

作者： Neamtu, Calin Ghinea, Rares Hurgoiu, Dan Tompa, Vasile Curta, Razvan Technical University of Cluj-Napoca Design Engineering and Robotics Department 103-105 Blvd Muncii Cluj Napoca400641 Romania

ISBN: (纸本)9788363713881

This paper presents a method for determining the initial surface of a hip joint with no "pre wear" data. Since there is no standardized method for this operation, there are a number of approaches that propose different methods for determining the nominal diameter of the femoral head. This one is used to determine the wear of the joint by comparing the actual surface with the CAD model. This paper presents a MATLAB processing of a scanned point cloud with a CMM in order to determine the deviation of each point from the nominal value. If the point is within the tolerance set by the manufacturer then this will be used to determine the initial diameter otherwise the point will be removed from the point cloud used to determine the initial diameter of the femoral head. © 2014 11th International Scientific Conference on Coordinate Measuring Technique. All Rights Reserved

关键词： Wear of materials

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Using augmented reality in metrology for technical drawings and CAD data management 11

Using augmented reality in metrology for technical drawings ...

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11th International Scientific Conference on Coordinate Measuring Technique, CMT 2014

作者： Popescu, Daniela Comes, Radu Neamtu, Cǎlin Popister, Florin Technical University of Cluj-Napoca Design Engineering and Robotics Department 103-105 Blvd. Muncii Cluj-Napoca400641 Romania

ISBN: (纸本)9788363713881

In this paper the authors propose a 2D drawings and 3D CAD models management system based on the use of databases and augmented reality. The system type is a client/server database;the data is stored on a central server and is accessed using smart devices with Wi-Fi connection. Visualization is done using an augmented reality application that allows real time overlay of 2D drawings over real parts or the 3D models can be displayed above the 2D drawings. This paper will present the system architecture, the advantages and disadvantages of augmented reality in the field of metrology and the implementation of the solution on tablets and smartphones. © 2014 11th International Scientific Conference on Coordinate Measuring Technique. All Rights Reserved

关键词： Computer aided design

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Low-Cost 3D laser scanner used for measurement 11

Low-Cost 3D laser scanner used for measurement

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11th International Scientific Conference on Coordinate Measuring Technique, CMT 2014

作者： Popescu, Daniela Bodi, Ştefan Neamţu, Cǎlin Ursa, Nicusor Technical University of Cluj-Napoca Design Engineering and Robotics Department 103-105 Muncii Blvd. Cluj-Napoca400641 Romania

ISBN: (纸本)9788363713881

In this paper a case study is presented, regarding the determination of geometric dimensions based on laser scanning. In this particular case the cheapest commercial laser scanning solution available on the market is used. This was automated using a Lego Mindstorm kit, and for experiments a special artifact was designed and manufactured. The paper presents influences of scanning speed, light intensity, camera resolution and other relevant parameters upon the obtained mesh. Processing the scan results and obtaining the 3D model is done with the help of a CAD solution, the results will be compared with a reference model obtained by scanning the same parts with a state of the art multi-sensor CMM. © 2014 11th International Scientific Conference on Coordinate Measuring Technique. All Rights Reserved

关键词： Scanning

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Unscented Kalman filter for position estimation of UAV by using image information

Unscented Kalman filter for position estimation of UAV by us...

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SICE Annual Conference

作者： Swee Ho Tang Takaaki Kojima Toru Namerikawa Che Fai Yeong Eileen Lee Ming Su Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Kuala Lumpur Malaysia Department of System Design Engineering Keio University Kanagawa Japan Center for AI and Robotics Universiti Teknologi Malaysia Kuala Lumpur Malaysia Universiti Teknologi Malaysia Skudai Johor MY

In this paper, the position estimation problem is solved by using unscented Kalman filter with observation uncertainty's compensations. These observation uncertainties causing the estimation become inaccurate in position estimate problem. Visual observation is difficult for an unmanned aerial vehicle equipped with only a monocular-vision camera and often results in observation error because of the detected blurred images. A method to weight the observations is proposed in order to improve the position estimation. Simulation is performed using MATLAB and Simulink to verify the proposed method. The simulation result shows that the proposed method can estimate the position accurately.

关键词： Kalman filters Aircraft Mathematical model Estimation Atmospheric modeling Cameras Electronic mail

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design and Performance Analysis of a Transparent Force Control Strategy for an Exoskeleton

Design and Performance Analysis of a Transparent Force Contr...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Amirreza Rashidi Ahmad Zibafar Reza Khezrian Gholamreza Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) Biomechatronics Lab. Department of Mechanical Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Exoskeleton robots are developed for human rehabilitation and power augmentation. Human and robot interaction is an important issue involved with these robots. In this paper, the interaction force reduction is considered leading to the transparency of a lower limb exoskeleton during swing phase of walking. Achieving this goal, a robust Lyapunov based motion control method has been developed. The desired reference signals for motion control are generated using a direct force control approach. Robot accelerations are estimated by an observer to be employed in the control loop. An adaptation procedure has been proposed for the bound estimation of uncertainties. As part of assumptions, the interaction between the robot and human is modeled by a spring-damper set which is reasonably accurate for swing phase. The prototyped exoskeleton parameters have been used for more accurate robot modeling. Finally, the simulation results are presented, indicating good performance of the proposed robot control strategy for a transparent human tracking.

关键词： Exoskeleton Robot Transparency Adaptive Robust Control Direct Force Control Interaction Force

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