Advanced Materials Research Vol. 1036

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: 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: This paper proposes finding optimal ways of recognizing geometric shapes (square, circle, rectangle, etc.) of files in different formats. Shapes recognition is a field of artificial intelligence, which includes all representation and decision techniques to automate the process of identifying similarities between objects or phenomena. An application of shapes recognition requires the definition of descriptors and choosing a distance. An application of shapes recognition is done in two phases: learning and recognition. By learning to calculate the set of descriptors of known (reference). In recognition stage, we calculate the same set of descriptors for unknown form and compared with known shape descriptors. The comparison is made through a distance. Recognition is a decision problem if you say unknown form is the same as the reference shape and if you say unknown form is different form the reference. Classification of forms is done in five steps: Reading and image display, image transformation in binary image and get its negative, Discover crossing thresholds between levels of color, Determine the properties of objects and Classification of objects by shape. Are three methods: Chain codes, the conventional Hough transform, method Harris Corner Detection

Abstract: The paper presents finding certain geometric objects in an image of the work area. Using offline programming of robots ABB RobotStudio program is ordered using these objects in a predetermined order. A significant number of high-performance algorithms used in image processing using methods and techniques of artificial intelligence. On the other hand, artificial intelligence requires intersection area and building systems capable of performing the functions of the human intellect: experiential learning, natural language understanding and the use of reasoning to solve problems or make decisions. All these imply, however, accumulating a certain amount of information (knowledge base, environmental information, etc.). This information is taken from the intelligent sensors, and creates an image of the environment when taking data. The image thus obtained is extracted useful information. However the field of artificial vision is a common discipline both image processing and artificial intelligence. In the first stage, objects placed in the normal position as to determine the geometrical shape feature. Determine a range of appropriate methods for recognizing geometric shapes (square, circle, rectangle, etc.). Using ABB robot with gripper each object is positioned firmly in place .

Abstract: Comparing to wheeled robots, legged ones are more flexible and mobile on difficult terrain, where wheeled robots cannot go. Wheels excel on flat surfaces or specially prepared surfaces, where wheeled robots are faster than legged machines. Also, wheeled platforms have simpler mechanical architecture and control algorithms. But they do not perform well when terrain is uneven, which is the case in real life, legged robots becoming more interesting to research and explore. Hybrid locomotion systems were developed to exploit the terrain adaptability of legs in rough terrain and simpler control as well as high speed associated with wheels. In this paper some information about the mechanical design and kinematics of a small hybrid locomotion robot are presented.

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: Mobile robots applications are demanding them to move in tight areas, to avoid obstacles, finding their way to the next location. In the case of wheeled robots, these abilities mainly depend on the wheels design. A mobile robot with omni-directional capabilities is very attractive because it guarantees a very good mobility in such cases, being able to move instantaneously in any direction from any configuration. These capabilities mainly depend on the wheels design. This paper provides some information about the mechanical design of an omni-directional mobile robot with modified Mecanum wheel, as well as about its control.

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: The characterization, modeling and the simulation of the mechanical processes represent components of the analysis process of the systems, representing the tools that allows the analysis, the detection and easier identification of the problems and the solutions. The action of the the mechanical systems with "pneumatic engines" shall be detailed in the article, the characteristics and the evolution of these engines as they are integrated in the various systems. The simulation of the mechanical systems use complex programs, specialized, programs that consider a lot of factors to determine the most precisely behavior and the evolution of the analyzed system. The results of the simulation and the prospection of the specific documentation shall be specified in the article, as well as identifying these "pneumatic engines" purposes and their limits.

Abstract: The paper presents results of investigation of car suspension system dynamics. In this research the multibody (Multi Body System - MBS) system software MSC.Adams was used. ADAMS software (MSC.Software) is a commercial software to build a multibody structural models. Modular design allows for the usage of applications with different focuses, such as rail, aviation and motor vehicles. Models with a large number of freedom degrees of the components are built with mass concentrated on the assumption that the system is composed of a rigid (or deformable) bodies combined in a specific way (connection spherical, sliding, rotary), moving under the action of the forces and moments of different types (concentrated or distributed forces, the forces of contact). The complex multibody systems are automatically generated by the Lagrange equations of motion of the second kind in absolute coordinates. Integral procedures used to solve the differential-algebraic equations include multistep algorithms with variable row and a variable-and fixed-step and one-step algorithms. The Adams/Car module enables building and simulation-based examination of individual car subsystems such as, for instance, the suspension, steering or driving system as well as their combinations forming a complete car. The programme contains an extensive library of structural solutions applied in cars. The geometry and relationship data of individual components are stored in libraries, and software operation on a standard user level can be brought down to defining positions of constraints in space. The software is compatible with various CAD programmes, thus enabling import of elements created in other applications. The study was conducted for the vehicle model of Fiat Seicento. The examined system of the complete vehicle consists of 49 kinematic degrees of freedom. The article examined the impact of chosen parameters on vehicle vibration in an Adams Car Ride. Used in simulation Adams/Car /Ride module allows to test vehicle dynamics forcing the position of the plate of test stand . Virtual model of the vehicle is set on four servo-motors. They can control any excitation combination of individual actuators (dispalcement and amplitude, phase between extortion, etc.) and determine all kinds of vibration (vertical, lateral, angular). The study was conducted for selected parameters of the test rig.