Papers by Keyword: Robotics

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Authors: Ion Gheorghe Gheorghe, Liliana Laura Badita, Adriana Cirstoiu, Simona Istriteanu, Veronica Despa, Stergios Ganatsios
Abstract: This paper initiates the launch and the integration of a new scientific concept: "Mechatronics Galaxy", a support of industrial research for European sustainable and strategic development. This new concept is based on achievement and development of evolutionary and integrative-synergistic concepts regarding micro-nanomechatronics engineering, micro-nanoelectronics engineering and micro-nanoIT engineering for: spatial, temporal and functional integration; intelligent adaptive behaviour based on perception, self-learning, self-diagnostics and systemic reconfiguration; adequate flexibility of software and hardware structures; predictive development of micro-nano-mechatronics structures and of the intelligent computerized applicability with high added value; simultaneous mix-integrative design of micro-nano-products, micro-nano-systems and micro-nano-technologies; a strategy of technological impact in economy, industry, society and education. Thus, the new concept "Mechatronics Galaxy" creates and develops micro-nano-mechatronics engineering, based on fundamental and applied techniques: micro-nano-mechatronics, micro-nano-robotics, micro-nano-integronics, micro-nano-sensoristics, micro-nano-actuators, micro-nano-processing and intelligent micro-nano-manufacturing.
Authors: Nelson Tavares Matias, Victor Orlando Gamarra Rosado, José Glenio Medeiros de Barros, Antonio Henriques de Araújo, Rosinei Batista Ribeiro
Abstract: Brazilian and foreign companies operating in Brazil in the last 30 years have been using automated productive resources, especially robots. These 3 decades doesn´t seem to have been enough to develop in the actors involved with robots an adequate professional awareness. If we consider the predictive security and ergonomic aspects involved, we notice that there are critical failures on handling these situations. So in this study we tried to observe the presence of the human being in some workstations that operate with robots in the Brazilian Southeastern region.
Authors: Marco Ceccarelli
Abstract: In this paper an algebraic formulation is proposed for designing telescopic manipulators when workspace is prescribed in a suitable form. An algorithm has been outlined by using an algebraic formulation for the workspace boundary.
Authors: Nicolae Joni
Abstract: Starting from the analysis of the modern robotic arc welding system from the kinematic point of view, the paper presents an original concept of the systems structure. Instead a combination of two open chains, as it is generally seen, the author proposes one single closed kinematic chain. The main element of this chain is the electric arc employed for welding, virtually seen as a vector which connects the two open chains, the robot and the part manipulator. This new approach could possibly change and simplify the way arc welding robots are programmed today.
Authors: Fei Tao, Ping An Mu, Shu Guang Dai, Jia Xing Shen
Abstract: This paper put forward a 3D reconstruction method of the headlight contours based on laser scanning technology and robotics. Firstly, according to the present three-dimensional measurement techniques, the article put forward a set of headlight contour detection method based on the analytic geometry model and the line laser source scanning principle. It establishes a 3D scanning model and coordinate transformation model for 3D reconstruction of the headlight contour. Secondly, according to the demanding accuracy it structures the 3D reconstruction system. Finally it realizes the 3D reconstruction of the headlight contour based on the method, and the result is tested and evaluated matching effect, the result shows that can effectively realize the 3D reconstruction of headlight contour and the method has a good stability.
Authors: T. Nagarajan, S. Krishnan, A.M.A. Rani, Victor Amirtham, T.V.V.L.N. Rao, Winson Ambaraj, Ramanathan Ramiah
Abstract: This paper analyses the result of the ongoing experimental research on the operational behavior of SMA in medical and robotics application. SMA are the materials that have the ability to return their original shape when subjected to the appropriate thermo mechanical interaction. SMA finds very wide applications in various facets of robotic equipments and industrial automation. They are easy to manufacture, low cost and can be integrated with human operations without any large scale safety requirements. Three SMA wires with diameters of 0.254 mm, 0.381 mm and 0.508 mm were experimented to measure the displacement of the wire with various bias forces. The 0.25 mm wire is best suited for generating substantial displacement. The displacement may be used to create CPM (Continues Passive Motion) for the Stewart platform for ankle rehabilitation therapy.
Authors: Martin Ramsauer, Michael Kastner, Paolo Ferrara, Ronald Naderer, Hubert Gattringer
Abstract: This paper investigates the sensorless detection and evaluation of inner oscillations of unknown test objects mounted on a compliant test bench. The principle of the sensorless analysis is that test objects are not totally rigid in reality. This means one or more parts of the test objects are oscillating with different eigenfrequencies compared to their rigid equivalent. By comparing eigenfrequencies of both (rigid and fault test object) oscillating parts are detectable. The aim of this experiment is to demonstrate the use of a 6 DOF compliant Stewart platform (alternatively used in a simulation environment) to generate frequency sweeps in all degrees of freedom, to get a sensorless detection of vibrations in unknown objects. For this purpose only the preexisting sensors applied for the control of the hexapod should be used. The detection of loose parts by shaking objects can be done by a complex robotic manipulation task. Being designed for flexible use by small and medium-sized enterprises, the robotic Stewart platform (hexapod) will adapt autonomously to different test objects leading to a highly flexible robot.
Authors: Ander Ansuategui, Loreto Susperregi, Elena Lazkano, Basilio Sierra
Abstract: The capability to plan a trajectory from a start to a goal position is essential for a mobile robot in order to obtain autonomy in navigation. The FM2 motion planner is a Fast Marching based algorithm that obtains the shortest geometric path between the safe possible ones. The safety, smoothness and reliability of the obtained trajectories have previously been theoretically demonstrated and make this planner suitable for applying it in a real robot. This paper attempts to measure the capabilities of the FM2 planner beyond theoretical results. As a previous step to apply it in our real robots, the FM2 planner is integrated as a plug-in driver in the Player/Stage multirobot simulation tool and the algorithm is tested under different environments and robot platforms. The results presented in this paper show the power of the FM2 method and the adequateness of the approach.
Authors: Watcharapol Watcharawisetkul, Mana Borwornpadungkitti, Nattee Niparnan, Attawith Sudsang
Abstract: We proposed a randomized algorithm that can effectively identify a large number of high quality force closure grasps in short time. This task is very important when we consider grasping in real time where a large number of force closure grasps are needed as a candidate for planning in higher level. The key idea of our method is that a concurrent grasp is usually a high quality grasp and a concurrent grasp can be quickly identified by providing heuristic in choosing a concurrent point. A comparison of our method with other methods was performed and the result indicates that our method outperforms other methods.
Authors: Zhen Hua Qin, Xiong Xiong He
Abstract: A robust adaptive terminal sliding mode control(SMC) algorithm is developed for the trajectory control of the rigid manipulators. The upper bounds of uncertain nonlinearities and unknown internal parameters of rigid manipulators are estimated through an adaptive mechanism and used for the main part of the controller, and additional part based terminal sliding mode technique is used to compensate the bounded parameters estimation error and achieve robustness of the control system. Continuous sliding mode controller is developed by replacing the signum functions with saturation functions to reduce the chattering that traditional sliding mode have common. The proposed design method is evaluated on a 2-DOF robot manipulator to demonstrate the effectiveness of the theory.
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