The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems...
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The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the internal module (i.e. robot joint) stiffness is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.
Interoperability: the ability of a system or a product to work with other systems or products without special effort from the user is a key issue in manufacturing and industrial enterprise generally. It is fundamental...
ISBN:
(数字)9781846288586
ISBN:
(纸本)9781846288579
Interoperability: the ability of a system or a product to work with other systems or products without special effort from the user is a key issue in manufacturing and industrial enterprise generally. It is fundamental to the production of goods and services quickly and at low cost at the same time as maintaining levels of quality and customisation. Interoperability is achieved if internal and external collaborators can interact on at least three levels: data, applications and business enterprise (through the architecture of an enterprise model and making allowance for the semantics of both partners). Not only a problem of software and IT technologies, it implies support for communication and transactions between different organisations that must be based on shared business references. Today, a new and important consideration must be taken into account economic business evaluation and the definition of dissemination policy. Composed of over 90 papers, Enterprise Interoperability II ranges from academic research through case studies to industrial and administrative experience of interoperability. The international nature of the authorship continues to broaden. Many of the papers have examples and illustrations calculated to deepen understanding and generate new ideas. The I-ESA07 conference from which this book is drawn was sponsored by the European Union via the INTEROP network of excellence and the ATHENA integrated project (in the frame of the 6th IST Framework Research Program). It is also supported by the International Federation for Information Processing, the International Federation of Automatic Control and various national associations. A concise reference to the state of the art in software interoperability, Enterprise Interoperability II will be of great value to engineers and computer scientists working in manufacturing and other process industries and to software engineers and electronic and manufacturing engineers working in the academic environment.
The primary concern in haptic systems is to achieve stable interaction under any operating conditions and for all simulated virtual environments, without unwanted oscillations that degrade virtual surface rendering. T...
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The primary concern in haptic systems is to achieve stable interaction under any operating conditions and for all simulated virtual environments, without unwanted oscillations that degrade virtual surface rendering. This paper represents a novel approach for controlling interaction with a haptic interface based on robust control design framework established for the control synthesis of interaction between an impedance-controlled robot and a passive environment. Initial experiments results have demonstrated advantages, high performance in interaction with a very stiff environment and reliability of the new algorithms.
PISA is a European Integrated Project (IP). It aims to develop intelligent assist systems (IAS) that support the human worker instead of replacing him. Thus, flexibility should not be achieved through fully automated ...
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PISA is a European Integrated Project (IP). It aims to develop intelligent assist systems (IAS) that support the human worker instead of replacing him. Thus, flexibility should not be achieved through fully automated assembly systems but should instead permit a better integration of human workers. PISA was launched in September 2006 and is planned for a duration of four years. PISA involves 18 partners from seven European countries, four large companies, seven SME and seven research institutes/universities. This paper presents an overview of the project, its structure, objectives and content of work.
The paper presents a novel concept of lightweight and inherently safe robotic systems for assisting the locomotion recovery therapy and training. This concept, referred to as STRING-MAN, is established on string-puppe...
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The paper presents a novel concept of lightweight and inherently safe robotic systems for assisting the locomotion recovery therapy and training. This concept, referred to as STRING-MAN, is established on string-puppet idea and utilizes modular wire robot components and advanced artificial muscles drives. An overview of the system's fundamental components, such as mechanical structure, patient-machine interface, sensory systems, control algorithms, etc., is given in the paper. The results of initial experiments clearly demonstrate the benefits and potential of new concept. Finally further development of STRING-MAN idea towards practical and inherently safe robotic rehabilitation assistants has also been presented.
PISA is a European Integrated Project (IP) in the research area “next generation of flexible assembly technology and processes”. The general aim of the project is to develop intelligent assist systems (IAS) in order...
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PISA is a European Integrated Project (IP) in the research area “next generation of flexible assembly technology and processes”. The general aim of the project is to develop intelligent assist systems (IAS) in order to support the human worker instead of replacing him. Thus, flexibility should not be reached through fully automated assembly systems but should instead support the better integration of human workers. This paper gives a report on the project, launched in September 2006.
Today more and more essential processes are conducted across enterprise borders, inducing additional challenges in terms of different languages, process types and ontology. Business process modelling (BPM) and Simulat...
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ISBN:
(纸本)9781424405015
Today more and more essential processes are conducted across enterprise borders, inducing additional challenges in terms of different languages, process types and ontology. Business process modelling (BPM) and Simulation are well-understood methods to analyze and optimize the processes within an enterprise. However, they can also be used for cross-organizational application, especially if they are combined with reference structures. This paper explains techniques which support cross-enterprise design and configuration based on Reference Models. Thereby, different approaches such as SCOR, the integrated enterprise modelling (IEM) and a specific distributed simulation method are used and integrated into a consistent reference model approach. The application of this approach is illustrated with different projects which each focus on a specific aspect of the supply chain design and configuration
作者：
Strauss, M.Olze, H.Lueth, T.C.BCMM
Berlin Center for Mechatronical Medical Devices Medical Faculty Charité-Humboldt Univeristy Berlin Germany Medical Faculty Charité
Humboldt University Berlin Campus Virchow Germany IPK
Fraunhofer Institute for Production Systems and Design Technology Berlin Germany
A new experimental support system for milling cavities for cochlear implants is proposed. In contrast to assisting the milling task by drilling jigs, image-based navigation systems or robots, the approach of "Nav...
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