Applied Mechanics and Materials Vol. 613

Abstract: The main application area of multiagents systems, demonstrated in this article is the modular robot, a type of robotic system that is composed of many autonomous modules. The paper shows theoretical and design approaches to the solution of metamorphic service robots. It gives selected specific questions and problems connected with its design and construction. While various decentralized algorithms have been developed in the field of modular robotics, most approaches lack theoretical treatment; furthermore, most are specialized for particular tasks and dificult to generalize to other modular robot tasks or configurations. Theoretical understanding allows us to identify the scope of this approach and to further generalize it to a broader application area. [1]

Abstract: In this paper, there is presented an industrial robot trajectory optimization method for series of point-to-point type movements. Also contain an optimization strategy that has been built using through proposed automated optimizing system for handling. The optimized trajectories must lead to avoid exciting mechanical resonance modes of the industrial robot structure. This can be achieved by applying of robot interpolation. The testing results show that the trajectory optimization through this method is feasible for industrial robots.

Abstract: The paper introduces main simulation principles of small helicopter T-Rex 600. The emphasis is on main rotor parts, the Bell-Hiller mixer and flybars. Main rotor performs three basic tasks: thrust generation, propulsion, longitudinal and lateral control. Flybars system directly affects the stabilization of helicopter as well as direction control of thrust vector of the main rotor.

Abstract: The article describes a design of automated robotized system with robot OTC Daihen AX-V6 suited for manipulation and robot Motoman SDA 10F that provides assembling of chosen parts. The transport of every part is realized from / to stock through conveyor belt Bosch. Superior control system is equipped by computer with visualization program of whole workplace.

Abstract: Paper presents transmission nonlinearities of servodrives. These nonlinearities directly affect the performance and precision of industrial machines such as robots, manipulators, NC machine tools etc. For measuring purpose of these nonlinearities a measurement test bench was created. Presented measuring test bench is used for static and dynamic measurements of servodrives as well as for precision and gear error evaluation. Paper focuses on properties, analysis and experimental measurements of angular transmission error, torsional elasticity and repeated position accuracy.

Abstract: Presented paper describes vision-based algorithm for 2D Rubik’s cube state detection suitable for cases in which long-term fixed camera-cube position is not possible. The main focus was to provide a robust algorithm for position and color detection in order to overcome problems observed in previous version. First part of paper describes Hough transform and advanced clustering functions that were used for cube position detection. Described algorithm provides robustness to strong occlusions and various lighting conditions. Second part of paper describes color detection algorithm and problems of prior classification in various color spaces.

Abstract: Rubik’s solver is prime example of science popularizing mechatronic device, combining computer vision techniques, advanced Rubik’s cube solving algorithm and control of industrial pneumatic components. First version of solver constructed by our department was equipped only by 2 lower grippers, resulting in approximately four minutes for single cube solution. Proposed paper describes not only experience gained by development of upgraded 4 gripper version but includes statistical analysis of Thistlethwait’s 45 algorithm required for solving process optimization. Mechanical design, electronics, system overview, performance and limitations of upgraded 4 gripper version are explained in detail as well. Development of vision algorithm for robust cube detection is described in conjoint paper “Robust detection of Rubik’s cube state using Hough transform and advanced clustering functions.”

Abstract: Article deals with the interconnection of virtual reality and robotic systems. It describes the software and hardware resources that are used in virtual reality and their subsequent application and utilization with robotic systems. It also gives an example of such a interconnection using multimodular system that was developed in Japan by NTT company and own developed system which is under implementation.

Abstract: In this paper we have shown and discuss the problematic of self-reconfigurable robots. Self-reconfigurable robots are modular robots that can dynamically and intelligently reconfigure their shape and size to accomplish difficult missions. This paper gives an chosen aspects of self-reconfigurable robotics with regards to individual aspects (technical, control, morphology) and basic consideration to the description of some individuality at this area.

Abstract: This contribution present the process of projection of griping effector with active suction cups. It focuses on possible complication by solutions and estimates sequence of necessary calculations so that the designed gripper guarantied secure fixation of manipulated objects in time of handling work of robot.