Applied Mechanics and Materials Vols. 799-800

Abstract: In this paper, authors propose a new method of disturbance estimation that can be used for marine and air vehicles. As stability area for nonlinear systems is connected with performance of estimation, indirect measurement is proposed to estimate the error. The base for calculation is vehicle accelerations provided by navigation system. New algorithms were tested in simulation for which authors developed a block diagram of indirect adaptive control system that features independence of estimator from controller. Analysis of results showed that the error of the developed estimator in transient mode is 30-40% less than error of the linear estimator. In steady state mode, gain of the proposed estimator is equal to gain of the linear estimator and output noise is the same. Simulated system was implemented in mini motor boat, and showed good results in experiment. New estimator allowed to increase the accuracy of moving along the paths.

Abstract: Robot arrangement in the automotive assembly plant in manufacturing environment consists of series and parallel configurations. Robot subsystems at painting lines were configured in series configuration while overall system was configured in parallel. Interruption of operations due to breakdown at both subsystems during operation would affect the production throughput. The robots’ breakdown data for each subsystem were acquired for reliability analysis of parallel-serial configuration of robots. This study is to analyze the serial subsystems robot reliability compared to reliability of robots in overall system in parallel-serial configuration. The seven years actual breakdown data were acquired from the automotive painting plant. By using the reliability block diagram (RBD) method, at the 5000 operating hours, the two subsystems at the painting lines were evaluated. Reliability of the two subsystems are 0.029 and 0.119 respectively. While the overall parallel-serial system has the reliability of 0.145. It is proven that the parallel-serial reliability of the system is better compared to series configuration of the subsystems. With parallel-serial system, the production line would not be interrupted during the corrective or preventive maintenance worked.

Abstract: This paper presents a danger analysis for a new octahedron-shaped variable-geometry-truss robot structure under collision with a human head. To lower the danger of collision, design modifications featuring a decoupling of the robot’s moved mass with variable passive compliance and damping will be introduced and a possible implementation in the robots drives is shown. The paper closes in presenting the impact force reduction potential of the resulting hydropneumatic actuator.

Abstract: An approach of energy minimization in humanoid robots is proposed in our paper. The techniques of dynamic power management method and real-time scheduling method are combined to be used in the humanoid robots. The common components of humanoid robots are motors, sensors, computers and controllers and so on which are electronic systems, and humanoid robots are real-time systems. Therefore, the dynamic power management method is used to dynamically adjust power state of components adaptive to the task’s need to reduce energy consumption, and the real-time scheduling method is applied to schedule multiple tasks and meet the deadlines. Through simulation of the humanoid robot developed by our lab, the feasibility of our method is proved.

Abstract: Most of pipelines are installed under the ground, so maintaining is one of the most critical issue. Furthermore, their own locations are difficult to be identified because of its environment. For those reason, identifying the location of pipelines is widely under the research with in-pipe robots. Most methods estimate the heading direction of pipe robots as the axial direction of pipelines. However, more detail research about the axial directions of pipelines is necessary because the defined directions are not always aligned with the heading direction of pipe robot. Therefore, this paper described the estimating method of pipeline radius and its axial direction relative the robot. The relative direction and radius of a pipe are estimated from location of contact points which is determined based on geometry. Geometric equation contains highly nonlinear term, so those are obtained by the numerical form instead of closed form. The suggested method is verified by an experiment approach. Since the real relative axial direction is hard to detect, the slope of pipes are computed from estimated value and inertial measurement unit attached to the robot. Estimated radius and slope have some error in discrete curved pipe, but estimated values are well matched under straight pipes condition.

Abstract: This research work presents a dynamic control of a 8 – Degrees of freedom (DOF) based bio-inspired humanoid robotic arm which was simulated using MATLAB / Adams Co-Simulation environment. The robotic arm has been modeled using PRO-E and its invoked in ADAMS and Controlled by MATLAB programming environment. With the help of the simulation results, parameters like torque, position, etc of the system have been analyzed for various trajectories or path of the robot and the results have been discussed in detail. This research work is part of a real time humanoid robot project titled – RALA (Robot based on Autonomous Learning Algorithm).

Abstract: This paper describes the system of telecontrol with two manipulators, that allows to grasp synchronously the object, position and orientation of which is determined by the vision system. The proposed algorithm of the computing system forms the control signals for all drives of manipulators. The simulation results confirm the efficiency of this algorithm and the overall system.

Abstract: The development of a robotic exoskeleton to restore and rehab, hand and finger function is highly competitive nowadays. The robotic exoskeleton is an active actuated mechanism implemented in rehabilitation system, in which each finger attached to an instrumented lead screw mechanism allowing force and position control, according to the normal human setting. The robotic device is a direct driven actuated based on ergonomics measurements, capable to assist in flexion and extension motion. As an adaptation mechanism, it's also compatible with various sizes and shapes of anthropometric human‘s finger. The integration of DC servo motor and lead screw mechanism were the main features of the interface, which allows independent motion of the five fingers with small and lightweight actuators. The device is easily transportable, efficient safety performance, user friendly and offer multiple modes of training potentials. This paper presents the measurements implemented in the system to determine the requirements for finger and hand rehabilitation device, the design and characteristic of the whole system.

Abstract: Trajectory tracking control of compliant parallel robot is presented. According to the characteristics of compliant joint, the system model is derived and the dynamic equation is obtained based on the Lagrange method. Radial Basis Function (RBF) neural network control is designed to globally approximate the model uncertainties. Further, an itemized approximate RBF control method is proposed for higher identify precision. The trajectory tracking abilities of two control strategies are compared through simulation.

Abstract: The experiment carried in this paper aims to study the feasibility of controlling an industrial robot to carry Peg-in-Hole assembling task using what called a Force/Torque Map. This type of control is based on real-time F/T sensor data during contact between the peg and the hole. The F/T Map presents the data acquired during previous attempts of the assembly task.