Solid State Phenomena Vols. 166-167

Abstract: Regarding the grabbing of the objects by the robots, countless researches have been made. In particular it has been researched for obtaining the models for the human hand and the way it acts when the human agent wants to grab an object. In this paper a few elements obtained after a research concerning the natural grab of object by human, has been made. In our research, we have made measurements for the motion coordinates of human agent arm, when he desires to grab a cylindrical object. The aim was to identify the grabbing motions and to transpose them in acting models (acting rules) used for programming an industrial robot, placed into a flexible fabrication cell.

Abstract: Tendon based parallel manipulators are capable of realizing movement of high speed and acceleration. In order to perform tasks that require direct contact with the environment control schemes are needed that adapt both operational space variables and tendon forces. By use of an inverse dynamics approach a motion control scheme in operational space is presented. In redundant systems the forces that act along the tendons can be divided into internal forces, the sum of which is zero, and external forces, that produce the driving force for the endeffector. Based on that property an additional and decoupled force control scheme is presented.

Abstract: In this paper, the authors present an in-pipe modular robotic system for inspection inside pipes with diameters ranged between 140 and 200 mm. The paper describes the components used for building the modules and the actuating systems.

Abstract: This paper deals with aspects related to modeling, simulation and development of the drive and control systems for a modular robotic system for inspection and exploration. In the first part of the paper the proposed robotic system model is presented. In the second part of the paper the robotic system simulation in MATLAB / Simulink is presented, obtaining the necessary data to dimension the actuators. The command and control developed systems are presented in the end of the paper.

Abstract: This paper, presents first, using Polya’s theorem of enumeration of distinct structures, the number of closed plane five-link kinematics chains. These chains differ among them by the number and the position of revolute and prismatic joints. From these chains, by interchanging the link connected to the frame, may be obtained different mechanisms with 2 degrees of freedom. Forward, it is presented the design with CATIA software of some mechanisms with five elements, with applicability in robotics. These may represent the mechanical structure of some manipulators for graving, inscription and other work. Also, they may be used in the design of a robot arm, with more degrees of freedom such as SCARA robots.

Abstract: Whenever mechanical devices are used to interact with the environment, accurate control of the forces occurring at the interaction surfaces arises as an important challenge. Traditionally, force controlled systems utilize stiff force sensors in the feedback loop to measure and regulate the interaction forces. Series elastic actuation (SEA) is an alternative approach to force control, in which the deflection of a compliant element (orders of magnitude less stiff than a typical force sensor) placed between motor and the environment is controlled to regulate the interaction forces. The use of SEAs for force control is advantageous, since this approach possesses inherent robustness without the need for high-precision force sensors/actuators and allows for the accurate control of the force exerted by the actuator through position control of the deflection of a compliant coupling element. Here, a non-overshooting force controller is proposed to be embedded into the control structure of SEAs. Such controller architecture ensures safe operations of SAEs by making sure that the force applied to the environment are always bounded from above by the reference forces commanded to the controller.

Abstract: In this paper we present a general structure of a cognitive control system that allows a mobile robot to behave semi-autonomously while receiving tasks through vocal commands. Furthermore, the paper contains an analysis of human robot interfaces, voice interface systems and cognitive systems. The main purpose is to identify the optimum structure of a mobile robot control platform and determine the outlines within which this solution will be developed. The mobile robot using such a solution will operate in the services and leisure domain, and therefore the specifications for the cognitive system will be tailored to the needs of such applications.

Abstract: In this paper is presented a possible method for controlling a robot, in this particular case a SCARA robot by using a capacitive 3D hand positioning system. This system makes possible the control of and for virtual reality prototype with application in augmented reality systems.

Abstract: Road design aims at the selection of geometric design parameters resulting in a road environment which can be used in driving simulators, in accordance with real situations. The following chapters present the road alignment parameters with respect to their geometric representation in virtual reality, focused on two road profiles, horizontal and vertical alignment. This paper discusses and presents the graphical representation of roads in Matlab m-code as virtual reality models with respect to safety regulations.

Abstract: With advances in science and technology, the interest to study the animals walking has developed the demand for building the legged robots. Physics-based simulation and control of quadruped locomotion is difficult because quadrupeds are unstable, under actuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning). The application named JQuadRobot is developed in Java and Java3D API. A Graphical User Interface and a simulator for a custom quadruped leg's robot and the main features of the interface are presented in this paper. This application is developed in Java and is essential in a development motion for legged robot. The friendly interface, allows any user to define and test movements for this robot. The cross-platform capability was the first reason to choose Java language for developing this application.