Papers by Keyword: Robot Control

Abstract: The paper deals with development and implementation of the direct and inverse kinematics to control of 6 DOF industrial robot SEF-ROBOTER SR25 by a real time control system. To obtain the angular position of each joint an iterative algorithm is applied that is developed in the Simulink program. This solution creates a basis for real time control of the robot drives utilizing features of SIEMENS SINAMICS family of frequency converters. The developed control system presents a universal platform enabling to debug any robot control algorithm and also easy to change a desired trajectory of the end effector. The equipment is suitable for testing different trajectories of the robot and is suitable also for educational purposes.

Abstract: This contribution presents the method of simultaneous control and creation of programming sequences for industrial robot with the use of interactivity achieved in the environment of augmented reality. Paper describes the experimental testing of proposed conception realized at the Faculty of Manufacturing Technologies in Presov of Technical University of Kosice (Slovakia) in the environment of experimental robotic workcell with the use of augmented reality tools. From the viewpoint of displaying units it consider the projection on half-silvered glass as well as using the head mounted display for virtual reality. Final part of the paper summarizes possible trends of further development in described area and also the possibilities of industrial applications.

Abstract: The paper describes control structure for driving system of a leg in six-legged robot vehicle. It can walk using locked wheels or it can roll on unlocked wheels. The leg joints are driven by hydraulic actuating units. Two different control structures are analyzed – control of a hydraulic cylinder through a mechanical gear and a structure for control of two hydraulic cylinders through a double eccentric gear mechanism. For control of the actuating units a conventional cascade structure with PI controllers completed by pre-compensation of controlled and observed variables is used. The performance of the structure has been proved on experimental stand and the experimental results are reported.

Abstract: With more and more industrial robots used in machinery manufacturing enterprises, mechatronics career groups have also put forward higher requirements for vocational students to become familiar with industrial robots. This paper takes handling robots as an example to introduce how to prepare the robot programs for certain tasks and how to use robots to complete the tasks.

Abstract: In this paper, an iterative learning impedance control(ITLC) algorithm is proposed. We designed an adaptive impedance controller that can be modified using iterative learning method. Moreover, the convergence of the proposed robot system is proven using the Lyapunov function to guarantee the global convergence of tracking error. Finally, by simulating and comparing the proposed learning impedance control scheme with that of the traditional impedance control, it confirms the effectiveness of ILIC .

Abstract: This paper focuses on our primary goal to achieve the emotional behaviour of the new version of the social robot Probo. The ability to enhance nonverbal communication with children is possible through facial expressions, eye-tracking and face-to-face contact. The new social robot has 21 degrees of freedom (DOF), grouped in five subsystems, named generically: eyes, ears, trunk, mouth and neck. The robotic head is actuated using only servo motors and all the components are manufactured using cheap, flexible and easy technologies. In order to get the social robot head able to express emotions, a Graphical User Interface (GUI) was developed. In this way facial expressions are created through sliders or push buttons. Additionally, we investigated the possibility of controlling the robot with an Arduino board. In this case, using pre-programmed or learned algorithms, the robot is getting a semiautonomous level, based on the usage of various sensors, being able to express six basic emotions: happiness, sadness, fear, anger, surprise and disgust. So, based on the feedback provided by the sensors, the robot can react accordingly, enhancing human-robot interaction (HRI).

Abstract: Aims to address the restrictions imposed by tranditional robot Control system development approach such as close structure, function immobility, lack of reconfiguration at run time, hard to guarantee. a lightweight service-oriented architectures (LSOA) for robot control system is proposed. The main features of this architecture include central control mode, message-based interaction and configuration system based on embedded database. This architecture provides good supports for runtime reconfiguration, and allows integrating different components with the aid of a configuration system. The experiment indicates that the LSOA approach can improve the flexibility, reconfiguration and agility of the system.

Abstract: This paper deals with controlling from a distance of NXT Mindstorms robot using mainly Matlab environment and a C# programmable interface. For robot control there is used an IIS application. This is very useful when the owner of the robot is not at home, but he has internet access. The owner of the robot can control the robot and find out what is happening at home. On the second hand, the robot is able to choose the moving path inside the house with the path planning application. The robot is equipped with a camera and the third facility of the robot is the spherical bodies recognition. Also there was developed a dedicated software for human faces detection.

Abstract: A new nonlinear PID control method is proposed to meet the needs of a vertical robot running under a high speed condition, whose joint transfer function changed with the joints position. Firstly, the experimental system has been set up. Then the joints transfer functions can be established. Moreover, the relationship between the PID parameters and joints angle position θ has been set up by the least square method. So the nonlinear PID controller can be obtained. In the end, several testing experiments have been caught out. The result shows that the nonlinear PID controllers have fast respond, which can meet the satisfaction of the robot under a high speed condition.

Abstract: The paper presents the process of development of a parallel manipulator for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR, fully-parallel manipulator with three translational degrees of freedom, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, with analysis of its kinematics and dynamics. A controller is proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.