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In this paper, the advantages of CACSD (Computer Aided Control System Design) tools for integrating a robotic system in a packaging machine are illustrated. Beside the mechanical integration of the robot into the machine architecture, it is necessary a functional integration, that requires a precise synchronization with the other parts of the system. In the proposed application, a robot with a parallel...
The paper describes a software architecture for control and simulation of a generic robotic manipulator. The algorithmic part of the system is implemented using the Orocos component-based framework and its related library for robotic applications, while the graphical animation of the robot is developed with Blender. The proposed control and simulation framework is modular, reconfigurable and computationally...
In this paper, we develop an online real-time system using Kinect and inertial measurement unit (IMU) to recognize and measure stairs for stair climbing tasks of erect mobile robots. This system combines the ideas of statistical characteristics of 3D point cloud data and adjustable geometric models for stair recognition tasks. Through this system, we not only verify the advantages of statistics methods...
A new 3D path planning algorithm of unmanned ground vehicle is proposed. First of all, an approach for the complex 3D unstructured scene of outdoor unmanned ground vehicle is structured by Elevation model which has traits of robustness and high-efficiency. Secondly, the Ant colony algorithm to search the best path is employed. Combined with the process costing and group intelligence of Ant colony...
This paper presents a pneumatic rubber microactuator which can be used in many fields such as the miniature endoscope inspection, the pipe inspection etc.. The actuating performance was analyzed using ANSYS. The results showed that the maximum stress was not on the position where the dimension mutated. And the end surface rotation angle was increasing linearly while the applied pressure was augmented...
This paper uses mechanic dynamic analysis software ASAMS to build a virtual prototype of the Parallel Machine Toll, and perform kinematic simulation. The virtual prototype model provides the theoretic foundation and main parameters for the system design, production and application in experiment. It is an effective method for engineering design.
3D vision-based recognition as well as grasping of complex objects is required not only for detection and categorization but also for pose estimation and robotic pick-and-place operations. In this paper, we propose a structured light camera based 3D visual perception and tracking system application with robot arm grasping for manufacturing. In the first step, we use a geometric surface primitive patch...
The prediction of the temperature distribution and thermal deformation for motorized spindle dependent on time is critical in its design process. The thermo-structural model of a grinding motorized spindle is developed with accurate thermal boundary conditions of the spindle-bearing system based on experimental data and numerical calculation. The following thermal boundary conditions are improved:...
In this paper we present a combination of neuroscience experiments with the use of a parallel armrest robot to study the effects of temporal delays and spatial biases on the movement perception. A dedicated armrest to guide and manipulate the arm has been developed for these experiments. It is a three-degree-of-freedom Delta structure. In combination with a virtual reality application, the movement...
Passive joints provide a means to reduce the mechanical complexity of a robot because they do not require direct actuation from a motor. However, the inclusion of such components complicates the development process, as their behavior is highly dependent on external stimuli in combination with actuation of other components. In this paper, we describe a study on the evolution of morphological characteristics...
Two-DOF barycenter mechanism and its control are proposed. The mechanism by means of the moved balancing masses along two axes changes the center of gravity of fish's body. The projected torques on x and y axes propel pitch and roll angles to the desired values. Merging the pitching and rolling models with fish-tail and rigid-body models, the fish robot motion and maneuverability can be achieved in...
In this paper, we propose a new technique for adding color to a surface of a 3D geometrical model utilizing laser reflectivity. A time-of-flight laser scanner obtains a range image from the sensor toward the target by measuring the round-trip time of a laser pulse. At the same time, for most laser scanners, the reflectance image (which is the strength of the reflected light) is available as a by-product...
It is well-known that physical robotic assistance to humans is significantly enhanced by including human behavior anticipation into robot planning and control. The challenge arises when the human goal/plan is uncertain or unknown to the robot. In this paper we propose a novel control scheme which dynamically selects between a model-based and a model-free strategy depending on the level of disagreement...
This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance...
Nowadays, the advance of the technology allows robots to acquire dense point clouds decreasing the price and increasing the performance. However, it is a hard task to deal with due to the large amount of points, the redundancy and the noise. This paper proposes an adaptable system to build a 3D feature model of point clouds using Gaussian Mixture Models. These 3D models are used in order to detect...
This paper addresses the design of Model Predictive Control (MPC) laws to solve the trajectory-tracking problem and the path-following problem for constrained underactuated vehicles. By allowing an arbitrarily small asymptotic tracking error, we derive MPC laws where the size of the terminal set is only limited by the size of the system constraints. In fact, for the case of unconstrained inputs, the...
This paper discusses the modelling and simulation of a reconfigurable wheelchair with a sit-to-stand facility for a disabled 25kg child. The prototype is designed in SolidWorks® and simulated in MATLAB® to get the suitable forces that have to be provided by the motors to activate the system. Three different techniques will be used in modelling the wheelchair. SolidWorks® software package will be used...
In this paper, we propose modelling objects using extrusion-based representations, which can be used to complete partial point clouds. These extrusion-based representations are particularly well-suited for modelling basic household objects that robots will often need to manipulate. In order to efficiently complete a partial point cloud, we first detect planar reflection symmetries. These symmetries...
Recently, it has been researched to adopt the dual arm robot at the packaging and assembly line of an electric device such as a mobile phone. At the research area of the end-effector development, it is necessary to extract demanded functions and to allocate these functions to allowable numbers of end-of-arm-tool (EOAT). On allocating steps, it is often occurred that one EOAT must grip materials with...
In this paper, we propose a method to apply any new face to a retro-projected 3D face system, the Mask-bot, which we have developed as a human-robot interface. The robot face using facial animation projected onto a 3D face mask can be quickly replaced by a new face based on a single frontal image of any person. Our contribution is to apply an automatic face replacement technique with the modified...
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