Advanced Materials Research Vol. 837

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: The paper presents main results obtained from experimental works performed for functional performances evaluation of a gantry robot, used for ultrasonic flaw detection (NDT Automation standard-duty ULTRA PAC Ultrasonic immersion model). The functional status of the robot has been evaluated by mean of a RENISHAW LASER ML 10 interferometer measuring system, from the point of view of positioning accuracy and repeatability in position as well as geometric errors of each gantry IR's NC axes. The research stages are referring to: individual NC axis functional evaluation (experimental determination of IRs X, Y, and Z axis positioning accuracy and repeatability in position), overall IRs NC axes functional evaluation (identifying of the partially geometric errors induced by inaccurate mounting of IRs joints / links or inappropriate technical solutions adopted for assembling different structural elements / joints of the studied gantry robot), as well as IRs X NC axis functional improvement (X NC axis positioning accuracy optimization) by mean of software errors compensation. The experimental setup included the analyzed gantry robot and the laser calibration system associated with different mountings of the laser measurement optics system (interferometers linear reflectors) for each measurement procedure. The final results and conclusions relieve means to functionally improve both, individual NC axes' as well as overall IRs performances.

Abstract: The paper presents the implementations of the control algorithm of a virtual system (Stewart platform) in the CAD/CAE system (Siemens NX) and in the NI LabVIEW supervisory and control system. The combination of both systems enables the virtual simulation and presentation of the results in relation to the chosen in the work virtual model of the Stewart platform. The virtual model of the Stewart platform with the imposed constraints and mobility limitations was built in the Siemens NX CAD/CAE system. Each of the modeled elements is based on the real components of the car simulator prepared for the persons with mobility impairments. The chosen model of a Stewart platform is a system with six degrees of freedom that is often used to build various types of simulators (e.g. flight, car). Using the NI LabVIEW software, a mathematical model of the Stewart platform was built and inverse kinematics task was implemented in relation to the model of the platform. The created mathematical model that describes the behavior of the Stewart platform was used to determine the inputs to the control system of platform actuators.

Abstract: In this paper is presented a study regarding the possibilities of commandinga virtual robot using a haptic interface. In order to demonstrate the functionality of this concept, a dedicated device with 1 DOF was developed. This device consists of twin motor-gearbox able to acquire and transmit the angular data of the shaft and return a haptic feedback corresponding to the robot movement. The proposed haptic device makes it possible to command one joint of an industrial robot and can be used as an essential component for the development of an exoskeleton for human arm and is able to generate a haptic interaction for all the joints. The exoskeleton solution will allow a structural similarity between the haptic device and an articulated robot arm. The test results with haptic feedback scenarios show that the proposed system can help inexperienced users to handle robot operation and programming tasks in an intuitive way.

Abstract: This paper presents some considerations regarding the trajectory analysis for a class of mobile robots, namely two-wheeled differential drive mobile robots, one of the most utilized mechanical structures now in mobile robotics practice. The paper is continuing the computational analysis of the Cauchy problem associated to a mobile robot kinematics. The phaseportrait graphical tool of the mathematical soft MAPLE11, points out the influence of the initial conditions the initial velocities of the driving (left and right) wheels of the robot on the robot trajectory. Considering a pair of few simulation cases for the initial conditions brings a good reliability of the analysis. The issue of repetitive phenomena is very important to notice in this context, as in the analysis it is repeated a specific allure of the trajectory. It brings important features, both from mathematical and robotic analysis standpoint. The further changes are due to the initial conditions variations. Repetitive phenomena can be collected in order to realize a global panel of random distributed events in the kinematics of two wheeled differential drive mobile robot and to use the statistical observations in the further analysis.

Abstract: In recent decades a considerable number of mobile robots with different locomotion systems have been developed. This paper is an overview on the designs of mobile robots with hybrid locomotion. Some solutions of hybrid locomotion mechanisms and control methods are presented. Most of the robots included in this category are using wheel-leg mechanisms as locomotion systems. In this way, the efficiency of the leg for moving in rough terrain is combined with the design simplicity and the low energy consumption of the wheel, when the robot is moving on structured environment.

Abstract: In recent years more and more emphasis was placed on the idea of autonomous mobile robots, researches being constantly rising. Mobile robots have a large scale use in industry, military operations, exploration and other applications where human intervention is risky. The accurate estimation of the position is a key component for the successful operation for most of autonomous mobile robots. The localization of an autonomous robot system refers mainly to the precise determination of the coordinates where the system is present at a certain moment of time. In many applications, the orientation and an initial estimation of the robot position are known, being supplied directly or indirectly by the user or the supervisor. During the execution of the tasks, the robot must update this estimation using measurements from its sensors. This is known as local localization. Using only sensors that measure relative movements, the error in the pose estimation increases over time as errors are accumulated. Localization is a fundamental operation for navigating mobile robots

Abstract: The robot studied in the paper has a 3DOF parallel structure of type 1PRRR+2PRPaR, with two coupled motions and one decoupled motion, composed by a mobile platform connected to the fixed base by three kinematic chains (one open kinematic chain of Prismatic Revolute Revolute Revolute type and two kinematic chains of Prismatic Revolute Parallelogram Revolute type). An analytical kinematic modelling of the parallel robot of type 1PRRR+2PRPaR is firstly presented in this paper, followed by a numerical simulation of the closed-form kinematic model and by a Virtual Reality (VR) application with control aspects. An innovative user interface for high-level control of the parallel 1PRRR+2PRPaR type robot is developed in MATLAB - Simulink and SimMechanics environment.

Abstract: The final goal of this research is to develop a safe and inexpensive flying vehicle. In this paper, only some preliminary ideas on the design of an unmanned aerial vehicle, based on Coandă effect, will be presented. These ideas are concerning the optimization of the aerodyne body profile.

Abstract: In certain situations the robots effector must be moved strictly according to some path. The example of such case could be painting, cutting, milling, welding, glue applying etc. The common feature of the mentioned operations is that in the most of cases, the movement of the tool is realized on the plane. The advantage of use of a tool operated by a robot is that the work area could be placed anywhere in the manipulators workspace and can be set at almost any angle relative to ground. By specifying a local coordinate system, the operator can define the path of the tool. Referring to the earlier studies of the author, this paper continues the discussion of the possibility of using the markup languages in the field of robotics. The further part describes a proposal for the application of SVG markup language to describe the objects forming the path of a tool. Just like XML, the SVG code can be processed in many ways, giving the possibility of translation to the particular robots programming language. The described method has also some disadvantages arising from the purposes of the SVG standard, like the 2D nature of a path.