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In this paper, the main purpose is to design the model of a given mechatronics line, composed by several workstations and serviced during the recovery, transport and return of a work piece by a Wheeled Mobile Robot (WMR) which has mounted a Robotic Manipulator (RM). The work piece to be transported has been initially tested and did not pass the quality test. In this context, the Processing/Reprocessing...
Purpose of this paper is to model, simulate and control wheeled mobile robotic systems integrated into an assembly mechatronics line for making it reversible, i.e. have the capacity to deal disassembly using mobile platforms equipped with a manipulator. For this purpose, synchronised hybrid Petri nets (SHPN) models will be used to simulate and control an assembly/disassembly (A/D) mechatronics line...
In this paper is intended to control the entire flexible line using two wheeled mobile robot and two robotic manipulators. The mechatronics manufacturing line has no possibility of automatic feed with pieces and no automatic pickup of the scrap pieces from the storage station. The robotic manipulators are used for charging the buffer of the flexible line as well as emptying the storage station. These...
This paper presents hybrid model for an assembly/disassembly mechatronics line serviced by two mobile robotics systems, working in parallel. The aim is to reverse an assembly line using these mobile platforms. For this purpose, an assembly/disassembly line balancing (A/DLB) and synchronized hybrid Petri nets (SHPN) will be used to model and control an assembly/disassembly mechatronics line (A/DML),...
In this paper is presented an algorithm for trajectory-tracking and obstacle avoidance for wheeled mobile robots (WMR). The proposed algorithm creates a trajectory composed of a global trajectory generated off-line and local obstacle avoidance trajectories that are created when an obstacle is detected by the sonar and laser sensors. Only one discrete-time sliding-mode controller is required to track...
In this paper an algorithm for trajectory-tracking and obstacle avoidance for wheeled mobile robots (WMR) is presented. The algorithm creates a trajectory composed of a global trajectory generated off-line and local obstacle avoidance trajectories that are created when an obstacle is detected by the sonar sensors. Only one discrete-time sliding-mode controller is required to track the resulting trajectory...
This paper deals control and navigation of the wheelchair for elderly and disabled based on kinematic model iris motion and image processing. Cirrus Power Wheelchair was modelled as an wheeled mobile robot (WMR) with two driving and two free wheels (2DW/2FW). An input/output model of the wheel control system consisting of servo-amplifier, DC motor and gear reducer have been experimentally indentified...
New idea of this paper is to make a processing line capable of reprocessing pieces that have not passed the quality test at the end of the line. The focus is to provide a model of the processing system and to introduce an autonomous robotic system (ARS) type a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM) in order to transport pieces, for reprocessing. For this purpose, an processing/reprocessing...
This paper presents the model and control structure of an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM). The model is a hybrid type, where A/DML is the discrete part and WMR with RM is the continuous part. Moreover, the model operates as a synchronized with signals from sensors. Thus, using Petri Nets (PN) in modeling,...
In this paper a discrete-time sliding mode controller for the trajectory tracking problem of four-driving-steering wheels (4DW/SW) mobile platform. Seekur is a holonomic, all-weather, outdoor robot platform for outdoor security, inspection and research. Seekur has an unique shape that combined with omni-directional steering allows truly holonomic movement. The discrete-time sliding mode controller...
In this paper a discrete-time sliding mode control for the trajectory tracking problem of wheeled mobile robots is presented. The wheeled mobile robot (WMR) taken into account was PowerBot. PowerBot is a mobile platform with two differential driving wheels (2DW) and two balancing caster wheels. It is an automated guided vehicle specially designed and equipped for autonomous, intelligent delivery and...
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