Papers by Keyword: Robot

Abstract: Clinical treatment for mandible defects is Mandible Reconstruction Surgery (MRS) including bone grafts, distraction osteogenesis and bone tissue engineering, however, MRS is operated by doctors without 3D navigation at present which leads to lots of disadvantages such as bad operational control, low positioning accuracy and poor stability. Therefore, a robotic surgical system was designed to assist surgeons on manipulating. For this study, the robot system was given in brief, then mechanical design and control system of the novel three-arm robot.And experiment results in this study show that the robot works stably and accurately. The development of this medical robot system contributes to the promotion and popularization of the MRS in clinics.

Abstract: The purpose of this paper is to show the possibilities offered by the use of markup language in the process of programming of the robot. In this paper, the author primarily focused on the problem of description of the objects’ arrangement on the robot’s scene. The XML format is selected among the various possibilities of using the markup language, due to the fact that most of the software for the simulation of manufacturing processes can export the virtual space configuration to the XML file. The XML (Extensible Markup Language) is a formal language that allows the representation of data structures in a way understandable to a human and suitable for machine processing. The other, significant advantage of the XML is that it is platform-independent language. Its structure is more understandable and much easier to learn than synthetic programming language, so it can be quickly acquired and used by a person who is not a programmer. In this paper, the focus has been mainly put on the presentation of the method and on the assumptions used in the examples given for a simple scene setup and simple manipulation tasks.

Abstract: Modern manufacturing plants even if they produce in large quantities, they often have to change the settings of their production lines. Customers do not want a standard product but personalized models. If the differences are only an option that can be mounted to the finished elements is not difficult. When the differences are much more serious and require changes in the technology of the element. Such orders are collected and made periodically so customers have to wait. Sometimes the wait time is several months. Changing the configuration of the production line or just a robot cell is a difficult and time-consuming process. It is necessary to stop the entire production line, the partially disassemble and installation of new equipment, and after the production of the series, the process repeated. The reconfiguration can take from several hours to several days, even weeks. These changes are costly, and these costs are borne by people buying individual model. Here are examples of the concepts presented elements of an exemplary robotic cell. Different degrees of modification will be presented from simple mechanical systems shortening the time to reconfigure the cell to a fully automatic reconfigurable systems. As an example will be presented to the cell welding. This cell is ready to make a specific item. The concept of adapting the cell to make the like is the first step modification. The next step is to automate the position so that the elements can be produced alternately. The introduction of an additional item of the approximated dimensions to the list made in a cell and automation, is another way to increase the flexibility of the cell. The final stage of the present article is the concept of robotic cell, designed to make the same process for any element. These concepts require a change in transmitting information to each of the stages and the whole process control at every stage. It is possible to transfer productive resources but this requires advanced management methods. Ensuring the mobility of selected measures to increase production efficiency but this requires the use of such multi-agent systems.

Abstract: Most of the modern robots could be programmed using only the operators panel, but the older machines often have very simple panels that do not cover advanced programming features. An example of such a robot is Mitsubishi Movemaster RV-M1, which is located in our laboratory. It is a small, five-axis robot which can be programmed only by using computer, while the panel is used only for storing current coordinates in memory. Due to the simplicity of programming language and very simple method of assembling the connection between the computer and the robot, the programming process does not require any dedicated communication software it is enough to have the editor operating in text mode. On the other hand, modern computers and operating systems provide big opportunity in term of building graphical interfaces. In this way the rough manner of programming could be replaced with a modern interface, which mimics the real panel. The one has been implemented for RV-M1 robot with a possibility of using the interface on mobile devices. The software could be also customized for other robots without the need of sources recompilation. An important advantage of the interface is the considerable reduction of the programming effort in comparison with the method of text editing, mainly due to the ability to use code snippets with one click.

Abstract: Mixed reality is a term which covers a wide range of computer and real world interaction. This name refers to the picture shown on the display device, which consists of real and virtual elements. These elements are mixed in some proportion, so we may distinguish between augmented reality (where the real world dominates) and augmented virtuality (where the virtual world dominates). In most of cases a flat (2D) live image is processed, which makes this technology available in smartphones, car navigation systems etc. In the engineers world the mixed reality is used mainly in simulators and trainers, but also as supporting technology during manufacturing, assembly or maintenance process. This paper discuss different approach: mixed reality as a tool supporting programming of the robot. The main goal was to reproduce a path given by operator in off-line programming software using the visual representation of a real object. The system should be regarded as experimental one, because of early stage of development. It allows defining the coordinates of discrete points or to discretize the path and save this data for further processing. The operator should care the rest of programming task, but the use of the robot is reduced to minimum at this stage. The major disadvantages of the mentioned method are problems with accuracy and the invariable orientation of the tool used by the robot during the process they may be eliminated by using better video equipment and the specialized image processing routine. This paper presents the main assumptions of the method along with a possible solution of the problem.

Abstract: This paper presents an approach to the application of agent-based systems for robotic workcell integration. Agent-based systems constitute a relatively new approach for analyzing, designing as well as implementing applications to be used in distributed systems, which is multi-robot workcell described in the paper. This systems should provide coordinated actions of all cooperating agents in order to achieve a common task. In the work was assumed the independent and autonomous operation of each robot as an individual agent. The aim of the designed system was to maximize the number of tasks realized by robots while minimizing the incompatibility of different robots during their joint work. It is assumed the independent operation of each robot and at their highest efficiency and effectiveness. In the paper are presented steps required to reach this aim and the short descriptions of proposed algorithms.

Abstract: People with walking disorders, due accidents or stroke, can be treated to regain their mobility. Conventional therapy is laborious and time consuming. Therefore a new tendency was born, to facilitate the rehabilitation and to reduce time spent on the machines. Rehabilitation robotics is a field in continuous expansion and recently novel mechanisms have been designed to help humans to regain their mobility. In this paper a short overview of ankle recovery systems is presented.

Abstract: Under the influence of external dynamic lighting or outdoors strong light, image color have a great influence on rapid and accurate positioning of the robot, which requires the robot vision system to obtain the high quality of color image. This paper uses the image pixel conversion ratio algorithm to improve the image recognition algorithm of robot vision system, and the use of multi threshold segmentation technology carries out restructure for image, it can get the high resolution image enhancement effect. In order to realize the algorithm, the form of using VB programming carries out algorithm implementation, and then the image enhancement can calculate the enhanced results table of image color curve distribution and different segmentation threshold image resolution. From the simulation results, this algorithm can enhance the image color effect, which provides technical support for the development and design of robot vision system.

Abstract: Negative plate forming is one of the important tasks of silver-zinc battery production. The objective of this work is to develop an automated forming system of negative plates to ensure the workers’ health and safety and to improve its production efficiency. The ointment injection and layer press method was studied by using two 3DOF robots moving and injecting zinc ointment along required trajectory and four 1DOF robots carrying the molds, carrier papers and metal grids between transportation lines and other machines. Experiment results show that the developed system with optimized parameters can reach the requirements of processing quality.

Abstract: This paper presents a method for robot path planning based on ant colony optimization algorithm, in order to resolve the weakness of ant colony algorithm such as slow convergence rate and easy to fall into local optimum and traps. This method uses anti-potential field to make the robot escape from them smoothly, and at the end of each cycle, uses the way of judge first and then hybridization to optimize the algorithm. Finally, the simulation results show that the performance of the algorithm has been improved, and proved that the optimization algorithm is valid and feasible.