Search results

Filters

  • Journals
  • Authors
  • Keywords
  • Date
  • Type

Search results

Number of results: 58
items per page: 25 50 75
Sort by:
Download PDF Download RIS Download Bibtex

Abstract

Dr. Aleksandra Przegalinska explains why we find humanoid robots so creepy and considers whether watching machines play football is actually fun.

Go to article

Authors and Affiliations

Aleksandra Przegalińska
Download PDF Download RIS Download Bibtex

Abstract

This paper presents the design of a versatile mechanism that can enable new directions in amphibious, all-terrain locomotion. The simple, passive, flapped-paddle can be integrated with several structures that are well-suited for locomotion in terrestrial applications. The flapped-paddle overcomes a serious limitation of the conventional flipper where the net lateral forces generated during oscillatory motion in aquatic environments averages out to zero. The flapped-paddle and its mounting, collectively, rests in natural positions in the aquatic environment so as to maximize hydrodynamic force utilization and consequently the propulsive efficiency. The simplicity of the design enabled us to develop a simulation model that concurs well with experimental results. The results reported in the paper are based on integrating the flapped-paddle with the curved leg of the RHex hexapod robot.
Go to article

Bibliography

  1.  A. Crespi, K. Karakasiliotis, A. Guignard, and A.J. Ijspeert, “Salamandra robotica II: an amphibious robot to study salamander-like swimming and walking gaits,” IEEE Trans. Rob., vol. 29, no. 2, pp. 308‒320, 2013.
  2.  M. Gad-El-Hak, “Coherent structures and flow control: genesis and prospect,” Bull. Pol. Acad. Sci. Tech. Sci., vol. 67, no. 3, pp. 411‒444, 2019.
  3.  A.J. Ijspeert, A. Crespi, D. Ryczko, and J.M. Cabelguen, “From swimming to walking with a salamander robot driven by a spinal cord model,” Science, vol. 315, no. 5817, pp. 1416‒1420, 2007.
  4.  E. Natarajan, K.Y. Chia, A.A.M. Faudzi, W.H. Lim, Ch.K. Ang, and A. Jafaari, “Bio Inspired Salamander Robot with Pneu-Net Soft ac- tuators-Design and Walking Gait Analysis,” Bull. Pol. Acad. Sci. Tech. Sci., vol. 69, no. 3, 2021, Article number: e137055, doi: 10.24425/ bpasts.2021.137055.
  5.  K. Karakasiliotis and A.J. Ijspeert, “Analysis of the terrestrial locomotion of a salamander robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis 2009, pp. 5015‒5020.
  6.  P. Liljebäck, Ø. Stavdahl, K.Y. Pettersen, and J.T. Gravdahl, “Mamba-A waterproof snake robot with tactile sensing,” in Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, US, 2014, pp. 294‒301.
  7.  S. Hirose and H. Yamada, “Snake-like robots machine design of biologically inspired robots,” IEEE Rob. Autom. Mag., vol. 3, 2009.
  8.  J. Yu, R. Ding, Q. Yang, M. Tan, and J. Zhang, “Amphibious Pattern Design of a Robotic Fish with Wheel-propeller-fin Mechanisms,” J. Field Rob., vol. 30, no. 5, pp. 702‒716, 2013.
  9.  J. Yu, R. Ding, Q. Yang, M. Tan, W. Wang, and J. Zhang, “On a bio-inspired amphibious robot capable of multimodal motion,” IEEE/ ASME Trans. Mechatron., vol. 17, no. 5, pp. 847‒856, 2011.
  10.  T. Paschal, M.A. Bell, J. Sperry, S. Sieniewicz, R.J. Wood, and J.C. Weaver, “Design, fabrication, and characterization of an untethered amphibious sea urchin-inspired robot,” IEEE Rob. Autom. Lett., vol. 4, no. 4, pp. 3348‒3354, 2019.
  11.  V. Kaznov and M. Seeman, “Outdoor navigation with a spherical amphibious robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan 2010, pp. 5113‒5118.
  12.  Y. Shen, Y. Sun, H. Pu and S. Ma, “Experimental verification of the oscillating paddling gait for an ePaddle-EGM amphibious locomotion mechanism,” IEEE Rob. Autom. Lett., vol. 2, no. 4, pp.  2322‒2327, 2017.
  13.  U. Saranli, M. Buehler, and D.E. Koditschek, “Design, modeling and preliminary control of a compliant hexapod robot,” in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco,CA, 2000, vol.3, pp. 2589‒2596.
  14.  U. Saranli, M. Buehler, and D.E. Koditschek, “RHex: A simple and highly mobile hexapod robot,” Int. J. Rob. Res., vol.  20, no. 7, pp. 616‒631, 2001.
  15.  G. Dudek et al., “Aqua: An amphibious autonomous robot,” Computer, vol. 40, no. 1, pp. 46‒53, 2007.
  16.  Ch. Georgiades, M. Nahon, and M. Buehler, “Simulation of an underwater hexapod robot,” Ocean Eng., vol. 36, no. 1, pp. 39‒47, 2009.
  17.  X. Liang et al., “The amphihex: A novel amphibious robot with transformable leg-flipper composite propulsion mechanism,” in Proceed- ings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012, pp. 3667‒3672.
  18.  S. Zhang, X. Liang, L. Xu, and M. Xu, “Initial development of a novel amphibious robot with transformable fin-leg composite propulsion mechanisms,” J. Bionic Eng., vol. 10, no. 4, pp.434‒445, 2013.
  19.  S. Zhang, Y. Zhou, M. Xu, X. Liang, J. Liu, and J. Yang, “AmphiHex-I: locomotory performance in amphibious environments with specially designed transformable flipper legs,” IEEE/ASME Trans. Mechatron., vol. 21, no. 3, p. 1720‒1731, 2015.
  20.  P. Burzyński, Poland, FLHex: A Flapped-Paddle Hexapod, (Aug. 01, 2021). [Online Video]. Available: https://www.youtube.com/ watch?v=Ux1AlOFUUco (Accessed: Aug. 2, 2021).
  21.  A. Simha, R. Gkliva, Ü. Kotta, and M. Kruusmaa, “A Flapped Paddle-Fin for Improving Underwater Propulsive Efficiency of Oscillatory Actuation,” IEEE Rob. Autom. Lett., vol. 5, no. 2, pp.  3176‒3181, 2020.
  22.  K.E. Crandell and B.W. Tobalske, “Kinematics and aerodynamics of avian upstrokes during slow flight,” J. Exp. Biol., vol. 218, no. 16, pp. 2518‒2527, 2015.
  23.  W. Yang and B. Song, “Experimental investigation of aerodynamics of feather-covered flapping wing,” Appl. Bionics Biomech., vol. 2017, 2017, Article ID: 3019640. doi: 10.1155/2017/3019640.
  24.  B.B. Dey, S. Manjanna, and Dudek G., “Ninja legs: Amphibious one degree of freedom robotic legs,” in Proceedings of the 2013 IEEE/ RSJ International Conference on Intelligent Robots and Systems, Tokio, Japan, 2013, pp. 5622‒5628.
  25.  S.B.A. Kashem, S. Jawed, A. Jubaer, and Q. Uvais, “Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet,” Robotics, vol. 8, no. 3, p. 77, 2019, doi: 10.3390/robotics8030077.
  26.  B. Kwak and J. Bae, “Design of hair-like appendages and comparative analysis on their coordination toward steady and efficient swimming,” Bioinspir. Biomim., vol. 12, no. 3, p. 036014, 2017, doi: 10.1088/1748-3190/aa6c7a.
  27.  S.B. Behbahani and X. Tan, “Design and modeling of flexible passive rowing joint for robotic fish pectoral fins,” IEEE Trans. Rob., vol. 32, no. 5, pp. 1119‒1132, 2016.
  28.  Ch.J. Esposito, J.L. Tangorra, B.E. Flammang, and G.V. Lauder, “A robotic fish caudal fin: effects of stiffness and motor program on locomotor performance,” J. Exp. Biol., vol. 215, no. 1, pp. 56‒67, 2012.
  29.  G.V. Lauder, “Function of the caudal fin during locomotion in fishes: kinematics, flow visualization, and evolutionary patterns,” Am. Zool., vol. 40, no. 1, pp. 101‒122, 2000.
  30.  S.C. Licht, M. Wibawa, F.S. Hover, and M.S. Triantafyllou, “Towards amphibious robots: Asymmetric flapping foil motion underwater produces large thrust efficiently,” Technical Raport, Massachusetts Institute of Technology. Sea Grant College Program, 2009.
  31.  Ch. Meurer, A. Simha, Ü. Kotta, and M. Kruusmaa, “Nonlinear Orientation Controller for a Compliant Robotic Fish Based on Asymmetric Actuation,” in Proceedings of the International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019, pp. 4688‒4694.
  32.  G.V. Lauder and E.D. Tytell, “Hydrodynamics of undulatory propulsion,” Fish Physiol., vol. 23, pp. 425‒468, 2005.
  33.  M. Bozkurttas, J. Tangorra, G. Lauder, and R. Mittal, “Understanding the hydrodynamics of swimming: From fish fins to flexible pro- pulsors for autonomous underwater vehicles,” Adv. Sci. Technol., vol.58, pp. 193‒202, 2008.
  34.  N. Martin, Ch. Roh, S. Idrees, and M. Gharib, “To flap or not to flap: comparison between flapping and clapping propulsions,” J. Fluid Mech., vol.822, p. R5, 2017, doi: 10.1017/jfm.2017.252.
  35.  M. Sfakiotakis, D.M. Lane, and J.B.C. Davies, “Review of fish swimming modes for aquatic locomotion,” IEEE J. Oceanic Eng., vol. 24, no. 2, pp. 237‒252, 1999.
  36.  R. Gkliva, M. Sfakiotakis, and M. Kruusmaa, “Development and experimental assessment of a flexible robot fin,” in Proceedings of the 2018 IEEE International Conference on Soft Robotics (RoboSoft), Livorno, Italy, 2018, pp. 208‒213.
Go to article

Authors and Affiliations

Piotr Burzynski
1
Ashutosh Simha
2
Ülle Kotta
2
Ewa Pawluszewicz
1
Shivakumar Sastry
3

  1. Bialystok University of Technology, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Bialystok, Poland
  2. School of Information Technologies, Department of Software Science, Tallinn University of Technology, 12618 Tallinn, Estonia
  3. University of Akron, Department of Electrical and Computer Engineering, Akron, Ohio 44325, USA
Download PDF Download RIS Download Bibtex

Abstract

The navigation of mobile robots is a key element of autonomous systems, which allows robots to move effectively and securely in changing environments with greater autonomy and precision. This study aims to provide researchers with a comprehensive guide for selecting the best path-planning methods for their particular projects. We evaluate some popular algorithms that are regularly used in mobile robot navigation, in order to demonstrate their specifications and determine where they are most effective. For example, one algorithm is used to model the problem as a standard graph, and another algorithm is found to be the most suitable for highly dynamic and highly dimensional environments, due to its robust path-planning capabilities and efficient route construction. We also filter high-performance algorithms in terms of computational complexity, accuracy, and robustness. In conclusion, this study provides valuable information on its individual strengths and weaknesses, helping robotics and engineers make informed decisions when selecting the most appropriate algorithm for their specific applications.
Go to article

Authors and Affiliations

Mehmet Kara
1
ORCID: ORCID

  1. AGH University of Science and Technology, Krakow, Poland
Download PDF Download RIS Download Bibtex

Abstract

Robotics specialists observe nature carefully and try to recreate the complex motions performed by people and animals with ease. Locomotion and the ability to manipulate flexible objects are especially challenging, but progress is being made.

Go to article

Authors and Affiliations

Krzysztof Walas
Download PDF Download RIS Download Bibtex

Abstract

Artificial intelligence technologies are moving forward by leaps and bounds, right before our very eyes. How well prepared are we to treat them not as tools or rivals, but as autonomous partners?
Go to article

Authors and Affiliations

Artur Modliński
1
Aleksandra Przegalińska
2

  1. University of Łódź
  2. Kozminski University in Warsaw
Download PDF Download RIS Download Bibtex

Abstract

A suitable use of software packages for optimization problems can give the possibility to formulate design problems of robotic mechanical systems by taking into account the several aspects and behaviours for optimum solutions both in design and operation. However, an important issue that can be even critical to obtain practical solutions can be recognized in a proper identification and formulation of criteria for optimability purposes and numerical convergence feasibility. In this paper, we have reported experiences that have been developed at LARM in Cassino by referring to the abovementioned issues of determining a design procedure for manipulators both of serial and parallel architectures. The optimality criteria are focused on the well-recognized main aspects of workspace, singularity, and stiffness. Computational aspects are discussed to ensure numerical convergence to solutions that can be also of practical applications. In particular, optimality criteria and computational aspects have been elaborated by taking into account the peculiarity and constraint of each other. The general concepts and formulations are illustrated by referring to specific numerical examples with satisfactory results.

Go to article

Authors and Affiliations

M. Ceccarelli
G. Carbone
E. Ottaviano
Download PDF Download RIS Download Bibtex

Abstract

This paper presents a model to generate a 3D model of a room, where room mapping is very necessary to find out the existing real conditions, where this modeling will be applied to the rescue robot. To solve this problem, researchers made a breakthrough by creating a 3D room mapping system. The mapping system and 3D model making carried out in this study are to utilize the camera Kinect and Rviz on the ROS. The camera takes a picture of the area around it, the imagery results are processed in the ROS system, the processing carried out includes several nodes and topics in the ROS which later the signal results are sent and displayed on the Rviz ROS. From the results of the tests that have been carried out, the designed system can create a 3D model from the Kinect camera capture by utilizing the Rviz function on the ROS. From this model later every corner of the room can be mapped and modeled in 3D.
Go to article

Authors and Affiliations

Syahri Muharom
1
Riza Agung Firmansyah
1
Yuliyanto Agung Prabowo
1

  1. Institut Teknologi Adhi Tama Surabaya, Indonesia
Download PDF Download RIS Download Bibtex

Abstract

This article concerns the use of an integrated RFID system with a mobile robot for the navigation and mapping of closed spaces. The architecture of a prototype mobile robot equipped with a set of RFID readers that performs the mapping functions is described. Laboratory tests of the robot have been carried out using a test stand equipped with a grid of appropriately programmed RFID transponders. A simulation model of the effectiveness of transponder reading by the robot has been prepared. The conclusions from measurements and tests are discussed, and methods for improving the solution are proposed.
Go to article

Authors and Affiliations

Bartosz Pawłowicz
1
ORCID: ORCID
Mariusz Skoczylas
1
ORCID: ORCID
Bartosz Trybus
2
ORCID: ORCID
Mateusz Salach
3
ORCID: ORCID
Marcin Hubacz
2
ORCID: ORCID
Damian Mazur
4
ORCID: ORCID

  1. Departmentof Electronic and Telecommunications Systems, Rzeszów University of Technology, WincentegoPola 2, 35-959 Rzeszow, Poland
  2. Department of Computer and ControlEngineering, Rzeszow University of Technology, Wincentego Pola 2, 35-959 Rzeszow, Poland
  3. Department of Complex Systems, Rzeszow Universityof Technology, Wincentego Pola 2, 35-959 Rzeszow, Poland
  4. Department of Electrical andComputer Engineering Fundamentals, Rzeszow University of Technology, Wincentego Pola 2, 35-959Rzeszow, Poland
Download PDF Download RIS Download Bibtex

Abstract

A companion robot is capable of performing a variety of activities and thus supporting the elderly and people withdisabilities. It should be able to overcome obstacles on its own, respond to what is happening around it in real-time, andcommunicate with its surroundings. It is particularly important to pay attention to these issues, as a companion robot is likely tobecome a participant in traffic. The aim of the research is to develop a mathematical model that takes into account the use of twonavigation solutions in the companion robot. Thanks to this, it will be possible to use the obtained mathematical relationships tocompare various types of navigation and make a rational choice, enabling the implementation of the assumed activities in aspecific external environment. What is new in this article is the analysis of several navigation methods and the presentation ofresearch carried out in real time using an actual robot.
Go to article

Authors and Affiliations

Karolina Krzykowska-Piotrowska
Emilia Grabka
Ewa Dudek
Adam Rosiński
ORCID: ORCID
Kamil Maciuk
Download PDF Download RIS Download Bibtex

Abstract

The industry transformation to the digital model 4.0 will be a significant change from

the perspective of the organisation and processes. In the context of the above, the research

was undertaken, the principal aim of which constituted the attempt to answer the question

concerning the technological advancement level of manufacturing companies operating in

the agricultural machinery sector. It is about identifying what adaptation projects in the

context of the fourth generation industry era should be undertaken by the Polish manufacturers operating in the agricultural machinery sector. The achievement of the main

objective required formulation and implementation of partial objectives, which, according

to the authors, include: C(1) – defining the Industry 4.0 axiom merit; C(2) – using the

subject literature reconstruction and interpretation methods – nomination of areas, on the

one hand essential from the perspective of the model 4.0, and on the other hand those that

may demonstrate the maturity in the domain of the adopted desiderata; C(3) – compilation

of the research model, in the form of an assessment sheet, being a resultant of literature

studies and research conducted among deliberately selected domain experts; C(4) – based

on the selected indicators, the technological advancement level recognition of the studied

companies; specification of a technological gap (questioning among experts).

Go to article

Authors and Affiliations

Bogdan Nogalski
Przemysław Niewiadomski
Download PDF Download RIS Download Bibtex

Abstract

In recent years, a significant development of technologies related to the control and communication of mobile robots, including Unmanned Aerial Vehicles, has been noticeable. Developing these technologies requires having the necessary hardware and software to enable prototyping and simulation of control algorithms in laboratory conditions. The article presents the Laboratory of Intelligent Mobile Robots equipped with the latest solutions. The laboratory equipment consists of four quadcopter drones (QDrone) and two wheeled robots (QBot), equipped with rich sensor sets, a ground control station with Matlab-Simulink software, OptiTRACK object tracking system, and the necessary infrastructure for communication and security. The paper presents the results of measurements from sensors of robots monitoring various quantities during work. The measurements concerned, among others, the quantities of robots registered by IMU sensors of the tested robots (i.e., accelerometers, magnetometers, gyroscopes and others).

Go to article

Authors and Affiliations

Sebastian Dudzik
Piotr Szeląg
Janusz Baran
Download PDF Download RIS Download Bibtex

Abstract

The paper introduces the distributed framework for determining the shortest path of robots in the logistic applications, i.e. the warehouse with a swarm of robots cooperating in the Real- Time mode. The proposed solution uses the optimization routine to avoid the downtime and collisions between robots. The presented approach uses the reference model based on Dijkstra, Floyd- Warshall and Bellman-Ford algorithms, which search the path in the weighted undirected graph. Their application in the onboard robot’s computer requires the analysis of the time efficiency. Results of comparative simulations for the implemented algorithms are presented. For their evaluation the data sets reflecting actual processes were used. Outcomes of experiments have shown that the tested algorithms are applicable for the logistic purposes, however their ability to operate in the Real-Time requires the detailed analysis.
Go to article

Bibliography

[1] Mobile Robot Platforms, Shuttle Automated Storage and Retrieval Systems, Industrial Robotic Manipulators, and Gantry Robots: Global Market Analysis and Forecasts, Informa PLC, https://www.tractica.com/research/warehousing-and-logistics-robots/
[2] J. Miklinska, “Trends in the logistic market and warehouses for logistics service providers-experiences from Poland,” Economic and Social Development: Book of Proceedings, 2020, 193-202.
[3] M. Khamphroo, N. Kwankeo, K. Kaemarungsi, K. Fukawa, “MicroPython-based educational mobile robot for computer coding learning,” 2017 8th International Conference of Information and Communication Technology for Embedded Systems (IC-ICTES), Chonburi, 2017.
[4] K. Dokic, B. Radisic, M. Cobović, “MicroPython or Arduino C for ESP32 - Efficiency for Neural Network Edge Devices,” Springier, 2020, pp.33-34, https://doi.org/10.1007/978-3-030-43364-2_4.
[5] N. Deo, “Graph theory with applications to engineering and computer science,” Englewood Cliffs, NJ: Prentice-Hall, 1974.
[6] G. Laporte, ”The traveling salesman problem: An overview of exact and approximate algorithms,” EJOR, 1992, Vol.59, pp. 231-247.
[7] Lu Feng, “Shortest path algorithm: Taxonomy and Advance in Research”, Acta Geodaetica et Cartographica Sinica, vol. 30, no. 3, pp. 269-275, 2001.
[8] D. Dobrilovic, V. Jevtic, I. Beker, Z. Stojanov, “Shortest-path based Model for Warehouse Inner Transportation Optimization” in 7th IEEE International Symposium on Applied Computational Intelligence and Informatics (SACI)
[9] Y. Liu, T. M. Vitolo, “Graph Data Warehouse: Steps to Integrating Graph Databases Into the Traditional Conceptual Structure of a Data Warehouse,” 2013 IEEE International Congress on Big Data, 2013, pp. 433-434, https://doi.org/10.1109/BigData.Congress.2013.72
[10] H.Y. Jang, J.U. Sun, “A Graph Optimization Algorithm for Warehouses with Middle Cross Aisles,” Applied Mechanics and Materials, 2011, 145. 354-358, https://doi.org/10.4028/www.scientific.net/AMM.145.354.
[11] B.D. Acharya, M.K. Gill, “On the Index of Gracefulness of a Graph and the Gracefulness of Two-Dimensional Square Lattice Graphs, ” Indian J. Math., 1981, 23, 81-94.
[12] T.H. Cormen, C.E. Leiserson, and R.L. Rivest, “Introduction to algorithms,” MIT Press, 1994.
[13] Warehouse material flows and flow charts, https://www.mecalux.co.uk/warehouse-manual/warehouse-design/warehouse-material-flowchart
[14] A. Niemczyk et al., “Organizacja i monitorowanie procesów magazynowych,” Instytut Logistyki i Magazynowania, 2014.
[15] A. Szymonik, D. Chudzik, “Logistyka nowoczesnej gospodarki magazynowej,” Difin, 2018.
[16] B. Mbakop A. Kevine, “The Effectiveness of ABC Cross Analysis on Products Allocation in the Warehouse,” 2018, January – February, Vol. 5, Issue 1, pp: 11-30.
Go to article

Authors and Affiliations

Tomasz Markowski
1
Piotr Bilski
2
ORCID: ORCID

  1. Lukasiewicz – Institute of Logistics and Warehousing, Poland
  2. Warsaw University of Technology, Poland
Download PDF Download RIS Download Bibtex

Abstract

The research of robotics needs a good and accurate control. The proposed concept is touch less and non-verbal communication with the use of leap motion controller. The concept has two major parts: first part is “device perceive hand finger moments and send signal”, second part is robotic hand interfaced with PIC microcontroller which receives signal and controls robotic hand. The paper aims to link virtual environment with real time environment. The virtual environment is consisting of leap motion controller and laptop, real time environment is consisting of microcontroller and robotic arm. In real time environment parodist is converts into virtual environment.
Go to article

Bibliography

[1] A. Saudabayev, H.A. Varol, “Sensors for robotic hands: A survey of state of the art”. IEEE Access. 2015;3: 1765-82.
[2] J. Kofman, X. Wu, T.J. Luu, S. Verma,. “Teleoperation of a robot manipulator using a vision-based human-robot interface”, IEEE Transactions on Industrial Electronics. 2005 Oct;52(5): 1206-19.
[3] N.S. Chu, C.L. Tai, “Real-time painting with an expressive virtual Chinese brush”, IEEE Computer Graphics and Applications. 2004 Sep;24(5): 76-85.
[4] D. Kruse, J.T. Wen, R.J. Radke, “A sensor-based dual-arm tele-robotic system”, IEEE Transactions on Automation Science and Engineering. 2015 Jan;12(1): 4-18.
[5] H. Jiang, B.S. Duerstock, J.P. Wachs. “A machine vision-based gestural interface for people with upper extremity physical impairments”, IEEE Transactions on Systems, Man, and Cybernetics: Systems. 2013 Aug 8;44(5): 630-41
[6] .A.S. Elons, M. Ahmed, H. Shedid, M.F. Tolba, “Arabic sign language recognition using leap motion sensor”, In 2014 9th International Conference on Computer Engineering & Systems (ICCES) 2014 Dec 22 (pp. 368-373). IEEE.
[7] S. Hirche, M. Buss, “Human-oriented control for haptic teleoperation”, Proceedings of the IEEE. 2012 Mar;100(3): 623-47.
[8] K.M. Vamsikrishna, D.P. Dogra, M.S. Desarka, “Computer-vision-assisted palm rehabilitation with supervised learning”, IEEE Transactions on Biomedical Engineering. 2016 May;63(5): 991-1001.
[9] G. Ponraj, H. Ren, “Sensor Fusion of Leap Motion Controller and Flex Sensors Using Kalman Filter for Human Finger Tracking”, IEEE Sensors Journal. 2018 Mar 1;18(5): 2042-9.
[10] K. Aditya, P. Chacko, D. Kumari, S. Bilgaiyan, “Recent Trends in HCI: A survey on Data Glove, LEAP Motion and Microsoft Kinect”, In 2018 IEEE International Conference on System, Computation, Automation and Networking (ICSCA) 2018 Jul 6 (pp. 1-5). IEEE.
[11] S. Mitra, T. Acharya, “Gesture recognition: A survey”. IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews). 2007 May;37(3): 311-24.
[12] S. Waldherr, R. Romero, S.A. Thrun, A gesture based interface for h”uman-robot interaction. Autonomous Robots”, 2000 Sep 1;9(2): 151-73.
[13] G. Marin, F. Dominio, P. Zanuttigh. Hand gesture recognition with leap motion and kinect devices. In2014 IEEE International Conference on Image Processing (ICIP) 2014 Oct 27 (pp. 1565-1569). IEEE.
[14] A. Sarkar, K.A. Patel, R.G. Ram, G.K. Capoor, “ Gesture control of drone using a motion controller”. In2016 International Conference on Industrial Informatics and Computer Systems (CIICS) 2016 Mar 13 (pp. 1-5). IEEE.
[15] R .Satheeshkumar and R. Arivoli , ” Real Time Virtual Human Hand For Robotics.” Journal of Computational Information Systems 15.1 (2019): 82-89.
[16] R. Satheeshkumar and R. Arivoli , "Real Time Virtual Human Hand for Diagnostic Robot (DiagBot) Arm Using IOT“ Journal of Advanced Research in Dynamical and Control System, Vol. 12, 01-Special Issue, 2020.
[17] R. Satheeshkumar and R. Arivoli , "Real Time Robotic Arm Control Using Human Hand Gesture Measurement “ Journal of Advanced Research in Dynamical and Control System, Vol. 12, 04-Special Issue, 2020.
[18] R. Satheeshkumar and R. Arivoli, "IOT Integrated Virtual Hand for Robotic Arm Using Leap Motion Controller" The Journal of Research on the Lepidoptera, Vol. 12, 04-Special Issue, 2020.
Go to article

Authors and Affiliations

R. Satheeshkumar
1
R. Arivoli
1

  1. Annamalai University, India
Download PDF Download RIS Download Bibtex

Abstract

The main focus of the article is an advanced actuator, designed and optimized for small dynamic legged robots. The presented actuator prototype is unique, as the market lacks similar solutions when dimensions and weight of the module are considered. The actuator has a modular structure, which makes it easy to replace in case of malfunction and simplifies the overall structure of the robot. High torque bandwidth, achieved by the module, is crucial to agile locomotion, obstacle avoidance and push recovery of the quadrupedal robot. The Authors have conducted a solution review aimed at similar small-size modules. It was found that there are no advanced actuators suitable for sub 5 kg quadruped robots. The unique design presented in this paper is described in all three aspects: mechanical, electrical and software. The mechanical section depicts the solutions implemented in the module, especially the low gear ratio gearbox. The custom brushless motor driver is presented in the electrical section, together with detailed diagrams and hardware descriptions. The last section depicts solutions implemented in the software, the main motor control algorithm and auxiliary modules such as automatic motor parameter identification and encoder misalignment correction. Tests performed in the last part of this paper validated the design goals established for the actuator. The results confirmed the high torque capability and exhibited the motor saturation region. Continuous and peak torque were measured based on the thermal characteristics of the module. Moreover, the automatic motor parameter identification process carried out by the controller itself was validated by manual measurements.
Go to article

Authors and Affiliations

Piotr Wasilewski
1
Rafał Gradzki
2
ORCID: ORCID

  1. Bialystok University of Technology, Faculty of Electrical Engineering, Wiejska 45D, 15-351 Bialystok, Poland
  2. Bialystok University of Technology, Faculty of Mechanical Engineering, Department of Robotics and Mechatronics, Wiejska 45C, 15-351, Bialystok, Poland
Download PDF Download RIS Download Bibtex

Abstract

The paper presents the results of experimental verification on using a zero-sum differential game and H control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion.
Go to article

Bibliography

  1.  B. Kovács, G. Szayer, F. Tajti, M. Burdelis, and P. Korondi, “A novel potential field method for path planning of mobile robots by adapting animal motion attributes,” Rob. Auton. Syst., vol. 82, pp. 24–34, 2016, doi: 10.1016/j.robot.2016.04.007.
  2.  A. Pandey, “Mobile Robot Navigation and Obstacle Avoidance Techniques: A Review,” Int. Robotics Autom. J., vol. 2, no. 3, pp. 96–105, 2017, doi: 10.15406/iratj.2017.02.00023.
  3.  R.C. Arkin, Behavior-based robotics. The MIT Press, 1998.
  4.  M. Szuster and Z. Hendzel, Intelligent Optimal Adaptive Control for Mechatronic Systems. Springer, 2018.
  5.  M.J. Giergiel, Z. Hendzel, and W. Żylski, Modeling and control of mobile wheeled robots. PWN, 2013, [in Polish].
  6.  P. Bozek, Y.L. Karavaev, A.A. Ardentov, and K.S. Yefremov, “Neural network control of a wheeled mobile robot based on optimal tra- jectories,” Int. J. Adv. Rob. Syst., vol. 17, no. 2, pp. 1–10, 2020, doi: 10.1177/1729881420916077.
  7.  P. Gierlak and Z. Hendzel, Control of wheeled and manipulation robots. Publishing House Rzeszow Univ. of Technology, 2011, [in Polish].
  8.  B. Kiumarsi, K.G. Vamvoudakis, H. Modares, and F.L. Lewis, “Optimal and Autonomous Control Using Reinforcement Learning: A Survey,” IEEE Trans. Neural Netw. Learn. Syst., vol. 29, no. 6, pp. 2042–2062, 2018.
  9.  F.L. Lewis, D. Vrabie, and V.L. Syrmos, Optimal control. John Wiley & Sons, 2012.
  10.  K.G. Vamvoudakis and F.L. Lewis, “Online actor-critic algorithm to solve the continuous-time infinite horizon optimal control problem,” Automatica, vol. 46, no. 5, pp. 878–888, 2010.
  11.  F.-Y.Wang, H. Zhang, and D. Liu, “Adaptive Dynamic Programming: An Introduction,” IEEE Comput. Intell. Mag., vol. 4, no.  May, pp. 39–47, 2009.
  12.  A.G. Barto, W. Powell, J. Si, and D.C. Wunsch, Handbook of learning and approximate dynamic programming. Wiley-IEEE Press, 2004.
  13.  D. Liu, Q. Wei, D. Wang, X. Yang, and H. Li, Adaptive Dynamic Programming with Applications in Optimal Control. Springer, Advances in Industrial Control, 2017.
  14.  A.J. van der Schaft, L2-Gain and Passivity Techniques in Nonlinear Control. Springer International Publishing, 2017.
  15.  B. Brogliato, R. Lozano, B. Maschke, and O. Egeland, Dissipative Systems Analysis and Control. Springer-Verlag London, 2007.
  16.  A.W. Starr and Y.C. Ho, “Nonzero-sum differential games,” J. Optim. Theory Appl., vol. 3, no. 3, pp. 184–206, 1969.
  17.  M. Abu-Khalaf, J. Huang, and F.L. Lewis, Nonlinear H2 Hinf Constrained Feedbacka Control. Springer-Verlag London, 2006.
  18.  D. Liu, H. Li, and D. Wang, “Neural-network-based zero-sum game for discrete-time nonlinear systems via iterative adaptive dynamic programming algorithm,” Neurocomputing, vol. 110, pp.  92–100, 2013.
  19.  C. Qin, H. Zhang, Y. Wang, and Y. Luo, “Neural network-based online Hinf control for discrete-time affine nonlinear system using adaptive dynamic programming,” Neurocomputing, vol. 198, pp.  91–99, 2016.
  20.  D. Liu, H. Li, and D. Wang, “Hinf control of unknown discretetime nonlinear systems with control constraints using adaptive dynamic programming,” in The 2012 International Joint Conference on Neural Networks (IJCNN). IEEE, 2012, pp. 1–6.
  21.  Z. Hendzel and P. Penar, “Zero-Sum Differential Game in Wheeled Mobile Robot Control,” Int. Conf. Mechatron., vol. 934, pp. 151–161, 2017.
  22.  Z. Hendzel, “Optimality in Control for Wheeled Robot,” Adv Intell. Syst. Comput.: Autom. 2018, vol. 743, pp. 431–440, 2018.
  23.  Y. Fu and T. Chai, “Online solution of two-player zero-sum games for continuous-time nonlinear systems with completely unknown dynamics,” IEEE Trans. Neural Netw. Learn. Syst., vol. 27, no. 12, pp. 2577–2587, 2015.
  24.  K.G. Vamvoudakis and F.L. Lewis, “Online solution of nonlinear two-player zero-sum games using synchronous policy iteration,” Int. Robust. Nonlinear Control, vol. 22, pp. 1460–1483, 2012.
  25.  S. Yasini, A. Karimpour, M.-B. Naghibi Sistani, and H. Modares, “Online concurrent reinforcement learning algorithm to solve two-player zero-sum games for partially unknown nonlinear continuous-time systems,” Int. J. Adapt Control Signal Process., vol. 29, no. 4, pp. 473– 493, 2015.
  26.  B. Luo, H.-N. Wu, and T. Huang, “Off-policy reinforcement learning for Hinf control design,” IEEE Trans. Cybern., vol. 45, no. 1, pp. 65–76, 2014.
  27.  H.-N. Wu and B. Luo, “Neural Network Based Online Simultaneous Policy Update Algorithm for Solving the HJI Equation in Nonlinear Hinf Control,” IEEE Trans. Neural Netw. Learn. Syst., vol.  23, no. 12, pp. 1884–1895, 2012.
  28.  Y. Zhu, D. Zhao, and X. Li, “Iterative adaptive dynamic programming for solving unknown nonlinear zero-sum game based on online data,” IEEE Trans. Neural Netw. Learn. Syst., vol. 28, no. 3, pp. 714–725, 2016.
  29.  J. Zhao, M. Gan, and C. Zhang, “Event-triggered Hinf optimal control for continuous-time nonlinear systems using neurodynamic pro- gramming,” Neurocomputing, vol. 360, pp. 14–24, 2019.
  30.  B. Dong, T. An, F. Zhou, S. Wang, Y. Jiang, K. Liu, F. Liu, H. Lu, and Y. Li, “Decentralized Robust Optimal Control for Modular Robot Manipulators Based on Zero-Sum Game with ADP,” in International Symposium on Neural Networks. Springer, 2019, pp. 3–14.
  31.  H. Modares, F.L. Lewis, and Z.-P. Jiang, “Hinf Tracking Control of Completely Unknown Continuous-Time Systems via Off-Policy Reinforcement Learning,” IEEE Trans. Neural Netw. Learn. Syst., vol. 26, no. 10, pp. 2550–2562, 2015.
  32.  J.C. Willems, “Dissipative Dynamical Systems. Part I: General Theory,” Arch. Ration. Mech. Anal., vol. 45, pp.  321–351, 1972.
  33.  D.J. Hill and P.J. Moylan, “Dissipative Dynamical Systems: Basic Input-Output and State Properties,” J. Franklin Inst., vol. 305, no.  5, pp. 327–357, 1980.
  34.  A.J. van der Schaft, “L2-gain Analysis of Nonlinear Systems and Nonlinear State Feedback Hinf Control,” IEEE Trans. Autom. Control, vol. 37, no. 6, pp. 770–784, 1992.
  35.  S. Boyd, L.E. Ghaoui, E. Feron, and V. Balakrishnam, Linear Matrix Inequalities in System and Control Theory. SIAM studies in applied mathematics: 15, 1994.
  36.  S. Yasini, M.B.N. Sistani, and A. Karimpour, “Approximate dynamic programming for two-player zero-sum game related to Hinf control of unknown nonlinear continuous-time systems,” Int. J. Control Autom. Syst., vol. 13, no. 1, pp. 99–109, 2014.
  37.  W. Zylski, Kinematics and dynamics of mobile wheeled robots. Publishing House Rzeszow Univ. of Technology, 1996, [in Polish].
  38.  J. Giergiel and W. Żylski, “Description of motion of a mobile robot by Maggie’s equations,” J. Theor. Appl. Mech., vol. 43, no. 3, pp. 511–521, 2005.
  39.  J. Garca De Jaln, A. Callejo, and A.F. Hidalgo, “Efficient solution of Maggi’s equations,” J. Comput. Nonlinear Dyn., vol. 7, no. 2, 2012, doi: 10.1115/1.4005238.
  40.  A. Kurdila, J.G. Papastavridis, and M.P. Kamat, “Role of Maggi’s equations in computational methods for constrained multibody systems,” J. Guidance Control Dyn., vol. 13, no. 1, pp. 113–120, 1990, doi: 10.2514/3.20524.
  41.  DS1103, Hardware Installation and Configuration. dSpace, 2009.
  42.  ActiveMedia, Pioneer 2DX Operation Manual Peterborough, 1999.
Go to article

Authors and Affiliations

Zenon Hendzel
1
ORCID: ORCID
Paweł Penar
1

  1. Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, ul. Powstańców Warszawy 12, 35-959 Rzeszów, Poland
Download PDF Download RIS Download Bibtex

Abstract

A method of solving the inverse kinematics problem for a humanoid robot modeled as a tree-shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the characteristic points (the robot’s center of mass, origins of feet and hands frames) in the discrete time domain. The description of motion in the frame associated with the supporting foot allows one to represent the robot as a composite of several serial open-loop redundant manipulators. Stability during the motion is provided by the trajectory of the robot’s center of mass which ensures that the zero moment point criterion is fulfilled. Inverse kinematics solution is performed offline using the redundancy resolution at the velocity level. The proposed method utilizes robot’s redundancy to fulfill joint position limits and to reduce gravity-related joint torques. The method have been tested in simulations and experiments on a humanoid robot Melson, and results are presented.
Go to article

Bibliography

[1] P. Gupta, V. Tirth, and R.K. Srivastava. Futuristic humanoid robots: An overview. In First International Conference on Industrial and Information Systems, pages 247–254, 2006. doi: 10.1109/ICIIS.2006.365732.
[2] S. Behnke. Humanoid robots – from fiction to reality? KI– Künstliche Intelligenz, 22(4):5–9, 2008.
[3] C.-H. Ting,W.-H Yeo, Y.-J. King, Y.-D. Chuah, J.-V Lee, and W.-B Khaw. Humanoid robot: A review of the architecture, applications and future trend. Research Journal of Applied Sciences, Engineering and Technology, 7:1178–1183, 2014. doi: 10.19026/rjaset.7.402.
[4] R. Mahum, F. Butt, K. Ayyub, S. Islam, M. Nawaz, and D. Abdullah. A review on humanoid robots. International Journal of Advanced and Applied Sciences, 4(2):83–90, 2017. doi: 10.21833/ijaas.2017.02.015.
[5] S. Saeedvand, M. Jafari, H.S. Aghdasi, and J. Baltes. A comprehensive survey on humanoid robot development. The Knowledge Engineering Review, 34:e20, 2019. doi: 10.1017/S0269888919000158.
[6] E. Krotkov, D. Hackett, L. Jackel, M. Perschbacher, J. Pippine, J. Strauss, G. Pratt, and C. Orlowski. The DARPA robotics challenge finals: Results and perspectives. Journal of Field Robotics, 34(2):229–240, 2016. doi: 10.1002/rob.21683.
[7] M. Vukobratovic and B. Borovac. Zero-Moment Point — Thirty Five Years of Its Life. International Journal of Humanoid Robotics, 01(01):157–173, 2004. doi: 10.1142/s0219843604000083.
[8] Ł. Woliński and M. Wojtyra. A novel QP-based kinematic redundancy resolution method with joint constraints satisfaction. IEEE Access, 10:41023–41037, 2022. doi: 10.1109/ACCESS.2022.3167403.
[9] B.W. Satzinger, J.I. Reid, M. Bajracharya, P. Hebert, and K. Byl. More solutions means more problems: Resolving kinematic redundancy in robot locomotion on complex terrain. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4861–4867. IEEE, 2014. doi: 10.1109/iros.2014.6943253.
[10] J.J. Kuffner and S.M. LaValle. RRT-connect: An efficient approach to single-query path planning. In Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). IEEE, 2000. doi: 10.1109/robot.2000.844730.
[11] B. Siciliano and J.J.E. Slotine. A general framework for managing multiple tasks in highly redundant robotic systems. In Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments, pages 1211–1216, vol. 2, 1991. doi: 10.1109/ICAR.1991.240390.
[12] B. Siciliano, L. Sciavicco, L.Villani, and G. Oriolo. Robotics. Modelling, Planning and Control. Springer-Verlag, Wien, 1 edition, 2009. doi: 10.1007/978-1-84628-642-1.
[13] B. Siciliano and O. Khatib, editors. Springer Handbook of Robotics. Springer Handbooks. Springer, Berlin, 2 edition, 2016. doi: 10.1007/978-3-540-30301-5.
[14] S. Chiaverini. Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators. IEEE Transactions on Robotics and Automation, 13(3):398–410, 1997. doi: 10.1109/70.585902.
[15] N. Mansard, O. Khatib, and A. Kheddar. A unified approach to integrate unilateral constraints in the stack of tasks. IEEE Transactions on Robotics, 25(3):670–685, 2009. doi: 10.1109/TRO.2009.2020345.
[16] F. Flacco and A. De Luca. A reverse priority approach to multi-task control of redundant robots. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2421–2427, 2014. doi: 10.1109/IROS.2014.6942891.
[17] A.A. Maciejewski and C.A. Klein. Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments. The International Journal of Robotics Research, 4(3):109–117, 1985. doi: 10.1177/027836498500400308.
[18] A.S. Deo and I.D.Walker. Minimum effort inverse kinematics for redundant manipulators. IEEE Transactions on Robotics and Automation, 13(5):767–775, 1997. doi: 10.1109/70.631238.
[19] G.S. Chyan and S.G. Ponnambalam. Obstacle avoidance control of redundant robots using variants of particle swarm optimization. Robotics and Computer-Integrated Manufacturing, 28(2):147–153, 2011. doi: 10.1016/j.rcim.2011.08.001.
[20] M. Duguleana, F. Grigore Barbuceanu, A. Teirelbar, and G. Mogan. Obstacle avoidance of redundant manipulators using neural networks based reinforcement learning. Robotics and Computer-Integrated Manufacturing, 28(2):132–146, 2011. doi: 0.1016/j.rcim.2011.07.004.
[21] C. Yang, S. Amarjyoti, X. Wang, Z. Li, H. Ma, and C. Y. Su. Visual servoing control of baxter robot arms with obstacle avoidance using kinematic redundancy. In H. Liu, N. Kubota, X. Zhu, R. Dillmann, and D. Zhou, editors, Intelligent Robotics and Applications, pages 568–580. Springer International Publishing, Cham, 2015. doi: 10.1007/978-3-319-22879-2_52.
[22] T. Petric, A. Gams, N. Likar, and L. Žlajpah. Obstacle avoidance with industrial robots. In G. Carbone and F. Gomez-Bravo, editors, Motion and Operation Planning of Robotic Systems: Background and Practical Approaches, pages 113–145. Springer International Publishing, Cham, 2015. doi: 10.1007/978-3-319-14705-5_5.
[23] T. Winiarski, K. Banachowicz, and D. Seredyński. Multi-sensory feedback control in door approaching and opening. In D. Filev, J. Jabłkowski, J. Kacprzyk, M. Krawczak, I. Popchev, L. Rutkowski, V. Sgurev, E. Sotirova, P. Szynkarczyk, and S. Zadrożny, editors, Intelligent Systems’2014, pages 57–70, Cham, 2015. Springer International Publishing. doi: 10.1007/978-3-319-11310-4_6.
[24] M. Tanaka and F. Matsuno. Modeling and control of head raising snake robots by using kinematic redundancy. Journal of Intelligent & Robotic Systems, 75(1):53–69, 2013. doi: 10.1007/s10846-013-9866-y.
[25] C. Ye, S. Ma, B. Li, and Y. Wang. Head-raising motion of snake-like robots. In 2004 IEEE International Conference on Robotics and Biomimetics, pages 595–600, 2004. doi: 10.1109/ROBIO.2004.1521847.
[26] J.-A. Claret, G. Venture, and L. Basañez. Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task. International Journal of Social Robotics, 9(2):277–292, 2017. doi: 10.1007/s12369-016-0387-2.
[27] K. Mikołajczyk, M. Szumowski, P. Płoński, and P. Żakieta. Solving inverse kinematics of humanoid robot using a redundant tree-shaped manipulator model. In Proceedings of the 2020 4th International Conference on Vision, Image and Signal Processing, ICVISP 2020, NewYork, NY, USA, 2020. Association for Computing Machinery. doi: 10.1145/3448823.3448885.
[28] M. Szumowski, M.S. Żurawska, and T. Zielińska. Preview control applied for humanoid robot motion generation. Archives of Control Sciences, 29(1):111–132, 2019. doi: 10.24425/acs.2019.127526.
[29] M. Szumowski, M.S. Zurawska, and T. Zielinska. Simplified method for humanoid robot gait generation. In T. Uhl, editor, Advances in Mechanism and Machine Science, pages 2269–2278. Springer International Publishing, 2019. doi: 10.1007/978-3-030-20131-9_224.
[30] T. Zielińska, L. Zimin, M. Szumowski, and W. Ge. Motion planning for a humanoid robot with task dependent constraints. In T. Uhl, editor, Advances in Mechanism and Machine Science, pages 1681–1690. Springer International Publishing, Cham, 2019. doi: 10.1007/978-3-030-20131-9_166.
[31] S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa. Biped walking pattern generation by using preview control of zero-moment point. In 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), volume 2, pages 1620–1626. IEEE, 2003. doi: 10.1109/ROBOT.2003.1241826.
[32] S.R. Buss and J.-S. Kim. Selectively damped least squares for inverse kinematics. J ournal of Graphics Tools, 10(3):37–49, 2005. doi: 10.1080/2151237X.2005.10129202.
[33] A. Ben-Israel and T.N.E. Greville. Generalized Inverses, Theory and Applications. Springer- Verlag New York, 2 edition, 2003. doi: 10.1007/b97366.
[34] P. Falco and C. Natale. On the stability of closed-loop inverse kinematics algorithms for redundant robots. IEEE Transactions on Robotics, 27(4):780–784, 2011. doi: 10.1109/TRO.2011.2135210.
[35] A. Colomé and C. Torras. Closed-loop inverse kinematics for redundant robots: Comparative assessment and two enhancements. IEEE/ASME Transactions on Mechatronics, 20(2):944–955, 2015. doi: 10.1109/TMECH.2014.2326304.
[36] D.N. Nenchev. Redundancy resolution through local optimization: A review. Journal of Robotic Systems, 6(6):769–798, 1989. doi: 10.1002/rob.4620060607.
[37] H. Zghal, R.V. Dubey, and J.A. Euler. Efficient gradient projection optimization for manipulators with multiple degrees of redundancy. In Proceedings., IEEE International Conference on Robotics and Automation, pages 1006–1011, vol. 2, 1990. doi: 10.1109/ROBOT.1990.126123.
[38] A. Liégeois. Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE Transactions on Systems, Man, and Cybernetics, 7(12):868–871, 1977. doi: 10.1109/TSMC.1977.4309644.
[39] D.-S. Bae and E. Haug. A recursive formulation for constrained mechanical system dynamics: Part I. Open loop systems. Mechanics of Structures and Machines, 15(3):359–382, 1987. doi: 10.1080/08905458708905124.
[40] G. Rodriguez, A. Jain, and K. Kreutz-Delgado. A spatial operator algebra for manipulator modeling and control. The International Journal of Robotics Research, 10(4):371–381, 1991. doi: 10.1177/027836499101000406.
[41] K. Yamane and L. Nakamura. O(N) forward dynamics computation of open kinematic chains based on the principle of virtual work. In Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), volume 3, pages 2824–2831, 2001. doi: 10.1109/ROBOT.2001.933050.
[42] Ł. Woliński and P. Malczyk. Dynamic modeling and analysis of a lightweight robotic manipulator in joint space. Archive of Mechanical Engineering, 62(2):279–302, 2015. doi: 10.1515/meceng-2015-0016.
[43] M.W. Spong, S. Hutchinson, and M. Vidyasagar. Robot Modeling and Control. Wiley, 2005.
[44] B. Espiau and R. Boulic. On the Computation and Control of the Mass Center of Articulated Chains. Technical Report RR-3479, INRIA, August 1998.
[45] D.A.Winter. Biomechanics and Motor Control of Human Movement. JohnWiley & Sons, Inc., 2009. doi: 10.1002/9780470549148.
Go to article

Authors and Affiliations

Kacper Mikołajczyk
1
Maksymilian Szumowski
1
Łukasz Woliński
1
ORCID: ORCID

  1. Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Warsaw, Poland
Download PDF Download RIS Download Bibtex

Abstract

The paper presents the algorithms for kinematic analysis, trajectory planning, dynamics of kinematic chain and driving units elaborated for manipulators and robots with kinematic chains of serial structure with revolute pairs with perpendicular or parallel axes. Elastic deflections of driving units as well as action of external forces on end-effector have been taken into account. The simulating software was created using the modular structure of modeling process. The application of software for testing the robots accuracy and running speed acc. to ISO 9283 is also presented.
Go to article

Authors and Affiliations

Andrzej A. Stępniewski
Download PDF Download RIS Download Bibtex

Abstract

Robots that can comprehend and navigate their surroundings independently on their own are considered intelligent mobile robots (MR). Using a sophisticated set of controllers, artificial intelligence (AI), deep learning (DL), machine learning (ML), sensors, and computation for navigation, MR's can understand and navigate around their environments without even being connected to a cabled source of power. Mobility and intelligence are fundamental drivers of autonomous robots that are intended for their planned operations. They are becoming popular in a variety of fields, including business, industry, healthcare, education, government, agriculture, military operations, and even domestic settings, to optimize everyday activities. We describe different controllers, including proportional integral derivative (PID) controllers, model predictive controllers (MPCs), fuzzy logic controllers (FLCs), and reinforcement learning controllers used in robotics science. The main objective of this article is to demonstrate a comprehensive idea and basic working principle of controllers utilized by mobile robots (MR) for navigation. This work thoroughly investigates several available books and literature to provide a better understanding of the navigation strategies taken by MR. Future research trends and possible challenges to optimizing the MR navigation system are also discussed.
Go to article

Authors and Affiliations

Ravi Raj
1
ORCID: ORCID
Andrzej Kos
1

  1. Faculty of Computer Science, Electronics, and Telecommunications, AGH University of Science and Technology, Krakow, Poland
Download PDF Download RIS Download Bibtex

Abstract

The scope of this work focuses on the aspects of quality and safety assurance of the iron cast manufacturing processes. Special attention

was given to the processes of quality control and after-machining of iron casts manufactured on automatic foundry lines. Due to low level

of automation and huge work intensity at this stage of the process, a model area was established which underwent reorganization

in accordance with the assumptions of the World Class Manufacturing (WCM). An analysis of work intensity was carried out and the costs

were divided in order to identify operations with no value added, particularly at individual manufacturing departments. Also an analysis

of ergonomics at work stations was carried out to eliminate activities that are uncomfortable and dangerous to the workers' health. Several

solutions were proposed in terms of rationalization of work organization at iron cast after-machining work stations. The proposed solutions

were assessed with the use of multi-criteria assessment tools and then the best variant was selected based on the assumed optimization

criteria. The summary of the obtained results reflects benefits from implementation of the proposed solutions.

Go to article

Authors and Affiliations

S. Kukla
Download PDF Download RIS Download Bibtex

Abstract

The paper outlines the methodology of virtual design of a foundry plant as a system. The most important stage in the procedure involves the development of a model defined as a set of data about the system. Model development involves two stages: defining the model’s architecture and specifying the model data in the form of parameters and input-output relationships. The structure is understood as configuration of machines and transport units, representing the sub-systems and system components. As the main purpose of the simulation procedure is to find the characteristics of the system’s behaviour, the merits of the iterative method involving analysis, synthesis and evaluation of results are fully explored.

Go to article

Authors and Affiliations

A. Stawowy
E. Ziółkowski
M. Brzeziński
R. Wrona
Download PDF Download RIS Download Bibtex

Abstract

The work presents the results of examinations concerning the influence of various amounts of home scrap additions on the porosity of

castings made of MgAl9Zn1 alloy. The fraction of home scrap in the metal charge ranged from 0 to 100%. Castings were pressure cast by

means of the hot-chamber pressure die casting machine under the industrial conditions in one of the domestic foundries. Additionally, for

the purpose of comparison, the porosity of specimens cut out directly of the MgAl9Zn1 ingot alloy was also determined. The examinations

consisted in the qualitative assessment of porosity by means of the optical microscopy and its quantitative determination by the method of

weighting specimens in air and in water. It was found during the examination that the porosity of castings decreases with an increase in the

home scrap fraction in the metal charge. The qualitative examinations confirmed the beneficial influence of the increased home scrap

fraction on the porosity of castings. It was concluded that the reusing of home scrap in a foundry can be a good way of reduction of costs

related to the production of pressure castings.

Go to article

Authors and Affiliations

Z. Konopka
M. Łągiewka
A. Zyska
A. Chojnacki
Download PDF Download RIS Download Bibtex

Abstract

The work presents the results of examinations concerning the influence of various amounts of home scrap additions on the properties of

castings made of MgAl9Zn1 alloy. The fraction of home scrap in the metal charge ranged from 0 to 100%. Castings were pressure cast by

means of the hot-chamber pressure die casting machine under the industrial conditions in one of the domestic foundries. The examinations

consisted in the determination of the following properties: tensile strength Rm, yield strength Rp0.2, and the unit elongation A5, all being

measured during the static tensile test. Also, the hardness measurements were taken by the Brinell method. It was found that the

mechanical properties (mainly the strength properties) are being improved up to the home scrap fraction of 50%. Their values were

increased by about 30% over this range. Further rise in the home scrap content, however, brought a definite decrease in these properties.

The unit elongation A5 exhibited continual decrease with an increase in the home scrap fraction in the metal charge. A large growth of

hardness was noticed for the home scrap fraction increasing up to the value of 50%. Further increasing the home scrap percentage,

however, did not result in a significant rise of the hardness value any more.

Go to article

Authors and Affiliations

Z. Konopka
A. Zyska
A.C. Chojnacki
M. Lagiewka
Download PDF Download RIS Download Bibtex

Abstract

The work deals with technology Patternless process that combines 3 manufacturing process mold by using rapid prototyping technology,

conventional sand formation and 3D milling. It's unconventional technology that has been developed to produce large-sized and heavyduty

castings weighing up to several tons. It is used mainly in prototype and small batch production, because eliminating production of

models. The work deals with the production of blocks for making molds of gypsum and gypsum drying process technology Thermomold.

Into blocks, where were made cavities by milling were casted test castings from AlSi10MgMn alloy by gravity casting. At machining of

the mold cavity was varied feed rate of tool of cemented carbide. Evaluated was the surface roughness of test castings, that was to 5

micrometers with feed from 900 to 1300 mm/min. The dimensional accuracy of castings was high at feed rate of 1000 and 1500 mm/min

did not exceed 0.025 mm.

Go to article

Authors and Affiliations

A. Sládek
R. Pastirčák
E. Kucharčíková

This page uses 'cookies'. Learn more