Pub Date : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177130
K. Mianowski
A designer of a robot manipulator has to select a kinematic structure, link lengths, its locations, and bearings etc. New manipulator applications for measurement of machined parts at the work-station need the investigation of components of mechanical parts and adequate (very small) mechanical hysteresis at kinematic pairs, kinematic model of the manipulator and properties of measurement transducers to obtain required performances of the robot. The paper deals with the design of a parallel manipulator POLMAN-3Lm with improved kinematic properties, i.e. with good distribution of linear resolution of the end-effector throughout its 3D workspace. An adopted mechanical system is characterized by good kinematic properties, i.e. the manipulator has good isotropicity of linear error (linear velocity) distribution in the workspace. The main advantages of this solution are simplicity and lightness of the construction.
{"title":"On some aspects of kinematic properties of parallel manipulators destined for some new applications","authors":"K. Mianowski","doi":"10.1109/ROMOCO.2002.1177130","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177130","url":null,"abstract":"A designer of a robot manipulator has to select a kinematic structure, link lengths, its locations, and bearings etc. New manipulator applications for measurement of machined parts at the work-station need the investigation of components of mechanical parts and adequate (very small) mechanical hysteresis at kinematic pairs, kinematic model of the manipulator and properties of measurement transducers to obtain required performances of the robot. The paper deals with the design of a parallel manipulator POLMAN-3Lm with improved kinematic properties, i.e. with good distribution of linear resolution of the end-effector throughout its 3D workspace. An adopted mechanical system is characterized by good kinematic properties, i.e. the manipulator has good isotropicity of linear error (linear velocity) distribution in the workspace. The main advantages of this solution are simplicity and lightness of the construction.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116695319","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177131
K. Nazarczuk, S. Luszczak
Some new results concerned with design and dynamics analysis of the redundant POLYCRANK manipulator with eight DOFs are presented. The main links of an arm in the form of light skew hollow cranks are connected one to the other by cross-roller bearings. In the new concept of the POLYCRANK manipulator all drive units are mounted coaxially in the base. The three first DOFs with vertical axes and the three next DOFs with parallel horizontal axes are driven by electric direct drive units while the last two DOFs are driven by electric motors with gears. The first link is driven directly, the second and third are driven remotely by special skew parallelograms. The other DOFs are driven remotely in a similar way by using skew parallelograms and bevel gears mounted on the third link. The kinematics scheme of this redundant manipulator is very simple and it has some specific properties. Inside of its vertex workspace the POLYCRANK manipulator can realize various high-speed cyclic gross motions. However, a big problem is strong reaction forces occurring in the joints. This may be the case in emergency situations too, e.g. when the power supply breaks down. A method of solving these problems has been presented. The possibility of easy manipulation of large bodies using two redundant POLYCRANK manipulators is stressed. Finally, a method of virtual design, which was used for the development of the conception of the manipulator, has been presented.
{"title":"Redundant manipulator POLYCRANK without joint limits-preliminary design study","authors":"K. Nazarczuk, S. Luszczak","doi":"10.1109/ROMOCO.2002.1177131","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177131","url":null,"abstract":"Some new results concerned with design and dynamics analysis of the redundant POLYCRANK manipulator with eight DOFs are presented. The main links of an arm in the form of light skew hollow cranks are connected one to the other by cross-roller bearings. In the new concept of the POLYCRANK manipulator all drive units are mounted coaxially in the base. The three first DOFs with vertical axes and the three next DOFs with parallel horizontal axes are driven by electric direct drive units while the last two DOFs are driven by electric motors with gears. The first link is driven directly, the second and third are driven remotely by special skew parallelograms. The other DOFs are driven remotely in a similar way by using skew parallelograms and bevel gears mounted on the third link. The kinematics scheme of this redundant manipulator is very simple and it has some specific properties. Inside of its vertex workspace the POLYCRANK manipulator can realize various high-speed cyclic gross motions. However, a big problem is strong reaction forces occurring in the joints. This may be the case in emergency situations too, e.g. when the power supply breaks down. A method of solving these problems has been presented. The possibility of easy manipulation of large bodies using two redundant POLYCRANK manipulators is stressed. Finally, a method of virtual design, which was used for the development of the conception of the manipulator, has been presented.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"25 16","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120980844","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177077
A. Cysewska-Sobusiak
The subject of this paper relates to the measurable effects of light behavior in biological materials. Contribution is focused on problems connected with noninvasive evaluation of the arterial blood oxygenation using pulse oximetry. Its concept allows extending areas of application, exceeding over the continuous defection of changes in oxygenation of blood in arterial peripheral vessels. Some examples of such modern applications are discussed. Taking into account advantages of the transmission variant of the method, problems with its modified use in analysis of biooptical signals acquired from the living tissues are considered. The author cites two kinds of her studies, which are based on such analysis: evaluation of specific parameters of photoplethysmograms, and modeling of effects of light-tissue interaction.
{"title":"Noninvasive optoelectronic monitoring of the living tissues vitality","authors":"A. Cysewska-Sobusiak","doi":"10.1109/ROMOCO.2002.1177077","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177077","url":null,"abstract":"The subject of this paper relates to the measurable effects of light behavior in biological materials. Contribution is focused on problems connected with noninvasive evaluation of the arterial blood oxygenation using pulse oximetry. Its concept allows extending areas of application, exceeding over the continuous defection of changes in oxygenation of blood in arterial peripheral vessels. Some examples of such modern applications are discussed. Taking into account advantages of the transmission variant of the method, problems with its modified use in analysis of biooptical signals acquired from the living tissues are considered. The author cites two kinds of her studies, which are based on such analysis: evaluation of specific parameters of photoplethysmograms, and modeling of effects of light-tissue interaction.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123465792","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177125
J. Kelemen, A. Kubík
The present day changes in applications of computers are fundamental and modify our global understanding of computers and computing. The coming change of the basic computational paradigm must be reflected in teaching computer science and engineering. This contribution sketches a proposal of how to achieve this on the basis of multi-agent systems and relatively simple robots and by transformation of the contents and the style of presentation of some of the parts of traditional theoretical computer science.
{"title":"Robots and agents in basic computer science curricula","authors":"J. Kelemen, A. Kubík","doi":"10.1109/ROMOCO.2002.1177125","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177125","url":null,"abstract":"The present day changes in applications of computers are fundamental and modify our global understanding of computers and computing. The coming change of the basic computational paradigm must be reflected in teaching computer science and engineering. This contribution sketches a proposal of how to achieve this on the basis of multi-agent systems and relatively simple robots and by transformation of the contents and the style of presentation of some of the parts of traditional theoretical computer science.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123751767","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177117
S. Trzcielinski
Hybrid automation, robotics and computer-based technologies have changed the organization of production. This requires a new approach in company management. In this paper a set of new management concepts is presented as well as some results of survey concerning the popularity, objectives and effectiveness of use of these concepts in manufacturing companies.
{"title":"Managing advanced manufacturing and automated systems. Some concepts and results of their implementation","authors":"S. Trzcielinski","doi":"10.1109/ROMOCO.2002.1177117","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177117","url":null,"abstract":"Hybrid automation, robotics and computer-based technologies have changed the organization of production. This requires a new approach in company management. In this paper a set of new management concepts is presented as well as some results of survey concerning the popularity, objectives and effectiveness of use of these concepts in manufacturing companies.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125304291","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177084
W. Wróblewski
In this paper, neural network control with output feedback, developed previously is recalled. This control scheme works without direct measuring of joint velocities, but with a neural observer to estimate these velocities. Efficiency of the feedback control presented previously and the optimal feedback control presented is compared in simulations. Both controllers are implemented by using neural networks. Example results for a 2-link planar manipulator are presented.
{"title":"On neural control of a manipulator with output feedback","authors":"W. Wróblewski","doi":"10.1109/ROMOCO.2002.1177084","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177084","url":null,"abstract":"In this paper, neural network control with output feedback, developed previously is recalled. This control scheme works without direct measuring of joint velocities, but with a neural observer to estimate these velocities. Efficiency of the feedback control presented previously and the optimal feedback control presented is compared in simulations. Both controllers are implemented by using neural networks. Example results for a 2-link planar manipulator are presented.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116145992","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177142
D. Spero, R. Jarvis
The robust control of a mobile robot in a rough terrain environment is a challenging endeavour, since any reliance on favourable surface or environmental conditions will inevitably lead to task failure. This paper presents the preliminary development of a unified navigation system used to control a nonholonomic mobile robot in an a priori unknown outdoor domain. Accurate, high-resolution environmental data was gathered from a scanning laser rangefinder (ladar), which constitutes the robot's exteroceptive perception system. Using this data, a 3D tessellated environmental model was created that generically captures terrain traversability. By adapting the rapidly-exploring random tree approach to the tessellated model, an efficient kinodynamic path planning algorithm was devised that enables point-to-point trajectory traversal. This path planning strategy was found to be a computationally efficient method of producing robust and versatile path plans.
{"title":"Path planning for a mobile robot in a rough terrain environment","authors":"D. Spero, R. Jarvis","doi":"10.1109/ROMOCO.2002.1177142","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177142","url":null,"abstract":"The robust control of a mobile robot in a rough terrain environment is a challenging endeavour, since any reliance on favourable surface or environmental conditions will inevitably lead to task failure. This paper presents the preliminary development of a unified navigation system used to control a nonholonomic mobile robot in an a priori unknown outdoor domain. Accurate, high-resolution environmental data was gathered from a scanning laser rangefinder (ladar), which constitutes the robot's exteroceptive perception system. Using this data, a 3D tessellated environmental model was created that generically captures terrain traversability. By adapting the rapidly-exploring random tree approach to the tessellated model, an efficient kinodynamic path planning algorithm was devised that enables point-to-point trajectory traversal. This path planning strategy was found to be a computationally efficient method of producing robust and versatile path plans.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124651918","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177137
M. Sajkowski
Presents a survey of the algorithms applied to voice control of electromechanical appliances, especially voice controlled mobile robots or intelligent wheelchairs for handicapped people. The second part of the paper is devoted to voice recognition algorithms. Besides a short voice processing algorithms review, the need of voice recognition results verification method was pointed out. The method proposed by author is presented. In order to improve robotized-wheelchair operation safety and functionality, it is necessary to implement additional environment recognition sensors. Some issues concerning the ultrasonic sensors are referred to. The data acquired from the sensors can be used by obstacle avoidance and path planning algorithms. These categories of algorithms and methods are presented in fifth part of the paper. There is brief review of master control algorithms in the sixth section. In the last part the conclusions from the survey are listed.
{"title":"Voice control of dual-drive mobile robots-survey of algorithms","authors":"M. Sajkowski","doi":"10.1109/ROMOCO.2002.1177137","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177137","url":null,"abstract":"Presents a survey of the algorithms applied to voice control of electromechanical appliances, especially voice controlled mobile robots or intelligent wheelchairs for handicapped people. The second part of the paper is devoted to voice recognition algorithms. Besides a short voice processing algorithms review, the need of voice recognition results verification method was pointed out. The method proposed by author is presented. In order to improve robotized-wheelchair operation safety and functionality, it is necessary to implement additional environment recognition sensors. Some issues concerning the ultrasonic sensors are referred to. The data acquired from the sensors can be used by obstacle avoidance and path planning algorithms. These categories of algorithms and methods are presented in fifth part of the paper. There is brief review of master control algorithms in the sixth section. In the last part the conclusions from the survey are listed.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114779963","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177086
P. Herman, K. Kozlowski
This paper presents some remarks concerning PD control in joint space of a manipulator in terms of eigenfactor quasi-coordinate velocity (EQV). Presented control is new in a sense that it is derived in terms of variables based on the eigenvalues and eigenvectors of the manipulator mass matrix. New control was tested on 3-DOF 3D DDArm robot. This paper presents also a comparison between PD control in joint space for serial manipulators whose dynamics is expressed in classical form and using EQV vector We show differences between classical control and the new control which uses these inertial quasi-velocities.
{"title":"Remarks regarding PD joint space control of manipulators using the eigenfactor quasi-coordinate velocity vector","authors":"P. Herman, K. Kozlowski","doi":"10.1109/ROMOCO.2002.1177086","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177086","url":null,"abstract":"This paper presents some remarks concerning PD control in joint space of a manipulator in terms of eigenfactor quasi-coordinate velocity (EQV). Presented control is new in a sense that it is derived in terms of variables based on the eigenvalues and eigenvectors of the manipulator mass matrix. New control was tested on 3-DOF 3D DDArm robot. This paper presents also a comparison between PD control in joint space for serial manipulators whose dynamics is expressed in classical form and using EQV vector We show differences between classical control and the new control which uses these inertial quasi-velocities.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114862704","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177119
T. Buratowski, A. Pietrzyk, T. Uhl, W. Zylski
This paper presents problems connected with the identification of dynamic motion equations derived on the basis of Maggi equations for a 2-wheeled mobile robot. The possibility of sending data between Maple/spl trade/ and Matlab/spl trade/ has been discussed. An off-line identification structure has been presented with the use of genetic algorithms.
{"title":"Identification in parallel structure of emulator mobile robot pioneer 2DX with the use of genetic algorithms","authors":"T. Buratowski, A. Pietrzyk, T. Uhl, W. Zylski","doi":"10.1109/ROMOCO.2002.1177119","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177119","url":null,"abstract":"This paper presents problems connected with the identification of dynamic motion equations derived on the basis of Maggi equations for a 2-wheeled mobile robot. The possibility of sending data between Maple/spl trade/ and Matlab/spl trade/ has been discussed. An off-line identification structure has been presented with the use of genetic algorithms.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127912440","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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