Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524540
P. Galambos, P. Baranyi, P. Korondi
In haptic and telemanipulation devices stability and transparency are contradicting requirements. Due to the network delay the control process may become unstable. In our research we consider the coupled impedance type control algorithms for force reflecting telemanipulation. There are several solutions in the control literature to handle constant time delay in feedback systems, but varying delay is still a challenge. This paper attempt to handle varying delay by a novel approach. We propose a control structure where the system with feedback delay is approximated by a non-delayed model with modified time constants. The controller is designed according to this non-delayed substitute system and the control signal is computed using its observed state vector. Tensor Product (TP) Model Transformation is utilized to make a compact polytopic representation of the observer and controller for various time delays. In this method the actual value of the feedback delay is considered as an input parameter of the TP type controller and observer. As example, a single degree of freedom impedance model with feedback delay is discussed. The results are confirmed by numerical simulation.
在触觉和遥控装置中，稳定性和透明性是相互矛盾的要求。由于网络延迟，控制过程可能变得不稳定。在我们的研究中，我们考虑耦合阻抗型控制算法的力反射遥控。在控制文献中有几种解决方案来处理反馈系统的恒定时间延迟，但变延迟仍然是一个挑战。本文尝试用一种新颖的方法来处理变延迟。我们提出了一种控制结构，其中具有反馈延迟的系统由具有修改时间常数的非延迟模型近似。根据该非延迟替代系统设计控制器，并利用其观测状态向量计算控制信号。利用张量积模型变换(Tensor Product Model Transformation, TP)对不同时滞的观测器和控制器进行了紧凑的多边形表示。该方法将反馈延迟的实际值作为TP型控制器和观测器的输入参数。以具有反馈延迟的单自由度阻抗模型为例进行了讨论。数值模拟结果证实了这一结论。
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Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524554
J. Hricko, S. Havlík, R. Hartanský
This paper deals with design procedures for devices based on compact compliant mechanical structures. Compliant mechanisms represent relatively a broad class of electro-mechanical systems where output motions / displacements are reached by elastic deformation of their flexural parts / segments. They are used especially for building robotic micro-positioning devices, effectors, sensors and actuators. Design problems of compliant mechanisms for particular devices are discussed. Application of an optimization procedure in design of the compliant joint is shown as example.
{"title":"Optimization in designing compliant robotic micro-devices","authors":"J. Hricko, S. Havlík, R. Hartanský","doi":"10.1109/RAAD.2010.5524554","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524554","url":null,"abstract":"This paper deals with design procedures for devices based on compact compliant mechanical structures. Compliant mechanisms represent relatively a broad class of electro-mechanical systems where output motions / displacements are reached by elastic deformation of their flexural parts / segments. They are used especially for building robotic micro-positioning devices, effectors, sensors and actuators. Design problems of compliant mechanisms for particular devices are discussed. Application of an optimization procedure in design of the compliant joint is shown as example.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122661238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524556
S. Havlík
The common problem of multi d.o.f. positioning or multi - component sensing devices based on compliant mechanisms is to reach the best accuracy of the positioning / sensing systems. This paper deals with analysis of elastic parts / segments of structures and possible errors due to cross compliance effects. The model that enables to minimize compliance errors and calibration procedure is discussed.
{"title":"Improving accuracy of compliant robotic (micro) devices","authors":"S. Havlík","doi":"10.1109/RAAD.2010.5524556","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524556","url":null,"abstract":"The common problem of multi d.o.f. positioning or multi - component sensing devices based on compliant mechanisms is to reach the best accuracy of the positioning / sensing systems. This paper deals with analysis of elastic parts / segments of structures and possible errors due to cross compliance effects. The model that enables to minimize compliance errors and calibration procedure is discussed.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115959855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524598
A. Molnár, D. Stojcsics
In unmanned aerial vehicle operations as well as in aviation the airflow direction and speed plays a major role. The wind speed may limit the use of aircraft, and determines the direction of the takeoff and landing. In the case of small size UAVs (0.5 – 4 m wingspan, 0.5 – 10 kg takeoff weight) the strength and the direction of the wind is quite important, because the airspeed of the vehicle is in the same scale, and the turbulence can affect the flight path. The general methods of wind measurement cannot be applied onboard of the UAV. Although the ground measured wind data is sufficient for the takeoff, but it is irrelevant when the UAV is landing in a different place, e.g. on a far field. In that case, the wind speed and direction must be measured onboard the vehicle, before the landing maneuver. The aim of the research is the real time determination of the dominant wind data with the onboard sensors.
{"title":"New approach of the navigation control of small size UAVs","authors":"A. Molnár, D. Stojcsics","doi":"10.1109/RAAD.2010.5524598","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524598","url":null,"abstract":"In unmanned aerial vehicle operations as well as in aviation the airflow direction and speed plays a major role. The wind speed may limit the use of aircraft, and determines the direction of the takeoff and landing. In the case of small size UAVs (0.5 – 4 m wingspan, 0.5 – 10 kg takeoff weight) the strength and the direction of the wind is quite important, because the airspeed of the vehicle is in the same scale, and the turbulence can affect the flight path. The general methods of wind measurement cannot be applied onboard of the UAV. Although the ground measured wind data is sufficient for the takeoff, but it is irrelevant when the UAV is landing in a different place, e.g. on a far field. In that case, the wind speed and direction must be measured onboard the vehicle, before the landing maneuver. The aim of the research is the real time determination of the dominant wind data with the onboard sensors.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126386081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524574
D. Graovac, Srecko Juric-Kavelj, I. Petrović
This paper proposes a correlation scan matching method based on matching consecutive readings of laser range finder. The method uses the Hough transform and the Hough spectrum for determining the relative rotation. By calculating also translation in the Hough domain, the method can also be successfully used in non-perpendicular environments. This paper also looks at validity of utilizing the probabilistic Hough transform with regard to the complexity and the accuracy of the algorithm. Proposed scan matching methods are used for mobile robot pose tracking. Developed algorithms are validated by simulation and experimental tests.
{"title":"Mobile robot pose tracking by correlation of laser range finder scans in Hough domain","authors":"D. Graovac, Srecko Juric-Kavelj, I. Petrović","doi":"10.1109/RAAD.2010.5524574","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524574","url":null,"abstract":"This paper proposes a correlation scan matching method based on matching consecutive readings of laser range finder. The method uses the Hough transform and the Hough spectrum for determining the relative rotation. By calculating also translation in the Hough domain, the method can also be successfully used in non-perpendicular environments. This paper also looks at validity of utilizing the probabilistic Hough transform with regard to the complexity and the accuracy of the algorithm. Proposed scan matching methods are used for mobile robot pose tracking. Developed algorithms are validated by simulation and experimental tests.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126865230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524563
S. Sula, G. Carbone, D. Pisla
The results of successful experiments for investigating the earthquake effects on mechanism operation by using Cassino Parallel Manipulator (CaPaMan) as an earthquake simulator are presented. The experimental tests have been carried on by using a slider-crank and a four bar linkage as representing machine operations. The mechanism behavior has been experienced as strongly influenced when the mechanism motion has low speed as compared to earthquake disturbances. But even at high speed mechanisms are affected by the variable earthquake frequency.
{"title":"An experimental evaluation of earthquake effects on mechanism operation","authors":"S. Sula, G. Carbone, D. Pisla","doi":"10.1109/RAAD.2010.5524563","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524563","url":null,"abstract":"The results of successful experiments for investigating the earthquake effects on mechanism operation by using Cassino Parallel Manipulator (CaPaMan) as an earthquake simulator are presented. The experimental tests have been carried on by using a slider-crank and a four bar linkage as representing machine operations. The mechanism behavior has been experienced as strongly influenced when the mechanism motion has low speed as compared to earthquake disturbances. But even at high speed mechanisms are affected by the variable earthquake frequency.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128504857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524572
A. Rojko, M. Spaner, K. Jezernik
This paper describes organization, educational approach and contents of students' project work in mechatronic program at the University of Maribor, Slovenia. Program is executed by two faculties; Faculty of Electrical Engineering and Computer Science, and Faculty of Mechanical Engineering. Three courses Project I, II, III, are assigned to the project work in second and third year. The students in Project I are lead by the mentors. The portion of autonomous work is then increasing with each following course. Project work typically ends with a diploma. By a careful choice of interesting up-to-date real life problems, project work provides the students with the practical skills and a broad knowledge of the essential contents from mechanical engineering, control theory, electronics, power electronics, automatic control and mechatronics design, but it still allows the students to specialize in a field of their choice.
{"title":"Projects in mechatronics program: practical examples","authors":"A. Rojko, M. Spaner, K. Jezernik","doi":"10.1109/RAAD.2010.5524572","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524572","url":null,"abstract":"This paper describes organization, educational approach and contents of students' project work in mechatronic program at the University of Maribor, Slovenia. Program is executed by two faculties; Faculty of Electrical Engineering and Computer Science, and Faculty of Mechanical Engineering. Three courses Project I, II, III, are assigned to the project work in second and third year. The students in Project I are lead by the mentors. The portion of autonomous work is then increasing with each following course. Project work typically ends with a diploma. By a careful choice of interesting up-to-date real life problems, project work provides the students with the practical skills and a broad knowledge of the essential contents from mechanical engineering, control theory, electronics, power electronics, automatic control and mechatronics design, but it still allows the students to specialize in a field of their choice.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129560512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524564
Z. Kolíbal, A. Smetanová
This paper contains the results of energy measuring provided by verification of theory concerning optimal energy consumption by robot movement. The experimental verification of mathematical models was performed in the laboratory of the Institute of Production Machines, Systems and Robotics at Brno University of Technology. The measure results are arranged in tables and diagrams from which final evaluation for praxis follow.
{"title":"Experimental implementation of energy optimization by robot movement","authors":"Z. Kolíbal, A. Smetanová","doi":"10.1109/RAAD.2010.5524564","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524564","url":null,"abstract":"This paper contains the results of energy measuring provided by verification of theory concerning optimal energy consumption by robot movement. The experimental verification of mathematical models was performed in the laboratory of the Institute of Production Machines, Systems and Robotics at Brno University of Technology. The measure results are arranged in tables and diagrams from which final evaluation for praxis follow.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126132066","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524545
I. Dinulescu, A. Predescu, G. Boccolato, R. Tanasie, D. Cojocaru
This paper deals with the subject of visual control of a hyper-redundant robot. This type of arm changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in the 3D space. A tentacle arm prototype was designed and the practical realization is now running. The mathematical modeling of such a robot takes under consideration both the kinematics and dynamics approach. A development environment for visual servoing application was designed and implemented. This environment includes both tools for simulating visual servoing algorithms (a graphic simulator), as well as tools for controlling hyper-redundant robots using a closed loop video control system. The visual servoing system does not answer in real time. The delay introduced by the image processing task is taken into consideration and simulations are performed trying to find a solution for this problem.
{"title":"Control of a hyper-redundant robot","authors":"I. Dinulescu, A. Predescu, G. Boccolato, R. Tanasie, D. Cojocaru","doi":"10.1109/RAAD.2010.5524545","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524545","url":null,"abstract":"This paper deals with the subject of visual control of a hyper-redundant robot. This type of arm changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in the 3D space. A tentacle arm prototype was designed and the practical realization is now running. The mathematical modeling of such a robot takes under consideration both the kinematics and dynamics approach. A development environment for visual servoing application was designed and implemented. This environment includes both tools for simulating visual servoing algorithms (a graphic simulator), as well as tools for controlling hyper-redundant robots using a closed loop video control system. The visual servoing system does not answer in real time. The delay introduced by the image processing task is taken into consideration and simulations are performed trying to find a solution for this problem.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121802347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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