Pub Date : 2022-08-01DOI: 10.14313/jamris/3-2022/20
M. Nakonechnyi, O. Ivakhiv, Dariusz Świsulski
Abstract The features of the synthesis of neural controllers for the car speed control system are considered in this article. The task of synthesis is to determine the weight coefficients of neural networks that provide the implementation of proportional and proportional-integral-derivative control laws. The synthesis of controllers is based on an approach that uses a reversed model of the standard. A model of the car speed control system with the use of permitting subsystems has been developed, with the help of the synthesized controller that is connected under certain specified conditions. With the iterative programming and mathematical modeling environment in MATLAB, and using the Simulink package, a structural scheme for controlling the speed of the car was constructed and simulated using synthesized neural controllers.
{"title":"Neurocontrolled Car Speed System","authors":"M. Nakonechnyi, O. Ivakhiv, Dariusz Świsulski","doi":"10.14313/jamris/3-2022/20","DOIUrl":"https://doi.org/10.14313/jamris/3-2022/20","url":null,"abstract":"Abstract The features of the synthesis of neural controllers for the car speed control system are considered in this article. The task of synthesis is to determine the weight coefficients of neural networks that provide the implementation of proportional and proportional-integral-derivative control laws. The synthesis of controllers is based on an approach that uses a reversed model of the standard. A model of the car speed control system with the use of permitting subsystems has been developed, with the help of the synthesized controller that is connected under certain specified conditions. With the iterative programming and mathematical modeling environment in MATLAB, and using the Simulink package, a structural scheme for controlling the speed of the car was constructed and simulated using synthesized neural controllers.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"111 1","pages":"13 - 21"},"PeriodicalIF":0.0,"publicationDate":"2022-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75307585","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 : 2022-08-01DOI: 10.14313/jamris/3-2022/24
Rajit Chandra, M. Hajiarbabi
Abstract Skin lesion can be deadliest if not detected early. Early detection of skin lesion can save many lives. Artificial Intelligence and Machine learning is helping health-care in many ways and so in the diagnosis of skin lesion. Computer aided diagnosis help clinicians in detecting the cancer. The study was conducted to classify the seven classes of skin lesion using very powerful convolutional neural networks. The two pre trained models i.e DenseNet and Incepton-v3 were employed to train the model and accuracy, precision, recall, f1score and ROCAUC was calculated for every class prediction. Moreover, gradient class activation maps were also used to aid the clinicians in determining what are the regions of image that influence model to make a certain decision. These visualizations are used for explain ability of the model. Experiments showed that DenseNet performed better then Inception V3. Also it was noted that gradient class activation maps highlighted different regions for predicting same class. The main contribution was to introduce medical aided visualizations in lesion classification model that will help clinicians in understanding the decisions of the model. It will enhance the reliability of the model. Also, different optimizers were employed with both models to compare the accuracies.
{"title":"Skin Lesion Detection Using Deep Learning","authors":"Rajit Chandra, M. Hajiarbabi","doi":"10.14313/jamris/3-2022/24","DOIUrl":"https://doi.org/10.14313/jamris/3-2022/24","url":null,"abstract":"Abstract Skin lesion can be deadliest if not detected early. Early detection of skin lesion can save many lives. Artificial Intelligence and Machine learning is helping health-care in many ways and so in the diagnosis of skin lesion. Computer aided diagnosis help clinicians in detecting the cancer. The study was conducted to classify the seven classes of skin lesion using very powerful convolutional neural networks. The two pre trained models i.e DenseNet and Incepton-v3 were employed to train the model and accuracy, precision, recall, f1score and ROCAUC was calculated for every class prediction. Moreover, gradient class activation maps were also used to aid the clinicians in determining what are the regions of image that influence model to make a certain decision. These visualizations are used for explain ability of the model. Experiments showed that DenseNet performed better then Inception V3. Also it was noted that gradient class activation maps highlighted different regions for predicting same class. The main contribution was to introduce medical aided visualizations in lesion classification model that will help clinicians in understanding the decisions of the model. It will enhance the reliability of the model. Also, different optimizers were employed with both models to compare the accuracies.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"14 2 1","pages":"56 - 64"},"PeriodicalIF":0.0,"publicationDate":"2022-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76412255","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 : 2022-08-01DOI: 10.14313/jamris/3-2022/25
Norbert Prokopiuk, P. Falkowski
Abstract The rapid development of automatic control and robotics requires an innovative approach to teaching. This is especially important in the case of studies at the academic level and in vocational schools, where training with expensive robotic stations is necessary. A solution to this problem may be substituting these with augmented reality (AR) and virtual reality (VR) due to their significantly lower costs. AR/VR technologies have an advantage in terms of low-cost and effective practices in robotics. The described content is an outcome of the MILAN project, wherein those technologies are used for the purpose of online courses. This includes providing access to virtual laboratories via a mobile application and the real-life training stations connected to the network. This paper provides an overview of the available AR/VR applications implemented in robotics education and a detailed description of related best practices. The main sections contain a detailed methodology for designing an AR mobile tool for learning robotics in the AR environment. Moreover, the main challenges encountered during the development phase were listed and analysed. Additionally, this paper presents the possible future use of the application with the associated benefits. The literature overview and conclusions may be used to design similar online courses with an interactive form of teaching practical industrial robots programming.
{"title":"Applicability of Augmented and Virtual Reality for Education in Robotics","authors":"Norbert Prokopiuk, P. Falkowski","doi":"10.14313/jamris/3-2022/25","DOIUrl":"https://doi.org/10.14313/jamris/3-2022/25","url":null,"abstract":"Abstract The rapid development of automatic control and robotics requires an innovative approach to teaching. This is especially important in the case of studies at the academic level and in vocational schools, where training with expensive robotic stations is necessary. A solution to this problem may be substituting these with augmented reality (AR) and virtual reality (VR) due to their significantly lower costs. AR/VR technologies have an advantage in terms of low-cost and effective practices in robotics. The described content is an outcome of the MILAN project, wherein those technologies are used for the purpose of online courses. This includes providing access to virtual laboratories via a mobile application and the real-life training stations connected to the network. This paper provides an overview of the available AR/VR applications implemented in robotics education and a detailed description of related best practices. The main sections contain a detailed methodology for designing an AR mobile tool for learning robotics in the AR environment. Moreover, the main challenges encountered during the development phase were listed and analysed. Additionally, this paper presents the possible future use of the application with the associated benefits. The literature overview and conclusions may be used to design similar online courses with an interactive form of teaching practical industrial robots programming.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"215 1","pages":"65 - 74"},"PeriodicalIF":0.0,"publicationDate":"2022-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76541866","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 : 2022-08-01DOI: 10.14313/jamris/3-2022/19
Adam Kowalczyk, R. Piotrowski
Abstract In this paper, a nonlinear balancing cube system is considered, the concept for which is based on an inverted pendulum. The main purpose of this work was the modelling and construction of a balancing cube with the synthesis of the control system. The control objectives included swing-up and stabilization of the cube on its vertex at an unstable equilibrium. Execution of the intended purpose required, first, deriving a cognitive mathematical model. It was based on the Lagrange method. Next, a mathematical model for control purposes was derived. The project of the physical model of the balancing cube was presented. A stabilization system based on a linear quadratic regulator (LQR) was developed. Moreover, a swing-up mechanism was used to bring the cube close to the upper equilibrium point. The algorithm switching condition was important to enable the correct functioning of the system. The developed control system was verified in the Matlab environment. Finally, verifying experiments and comparisons among models (mathematical and physical) were performed.
{"title":"Optimal State Feedback Controller For Balancing Cube","authors":"Adam Kowalczyk, R. Piotrowski","doi":"10.14313/jamris/3-2022/19","DOIUrl":"https://doi.org/10.14313/jamris/3-2022/19","url":null,"abstract":"Abstract In this paper, a nonlinear balancing cube system is considered, the concept for which is based on an inverted pendulum. The main purpose of this work was the modelling and construction of a balancing cube with the synthesis of the control system. The control objectives included swing-up and stabilization of the cube on its vertex at an unstable equilibrium. Execution of the intended purpose required, first, deriving a cognitive mathematical model. It was based on the Lagrange method. Next, a mathematical model for control purposes was derived. The project of the physical model of the balancing cube was presented. A stabilization system based on a linear quadratic regulator (LQR) was developed. Moreover, a swing-up mechanism was used to bring the cube close to the upper equilibrium point. The algorithm switching condition was important to enable the correct functioning of the system. The developed control system was verified in the Matlab environment. Finally, verifying experiments and comparisons among models (mathematical and physical) were performed.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"30 1","pages":"3 - 12"},"PeriodicalIF":0.0,"publicationDate":"2022-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73803749","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 : 2022-08-01DOI: 10.14313/jamris/3-2022/23
H. M. Mohan, H. Kumara, S. H. Mallikarjun, A. Y. Prasad
Abstract Medical history highlights that myocardial infarction is one of the leading factors of death in human beings. Angina pectoris is a prominent vital sign of myocardial infarction. Medical reports suggest that experiencing chest pain during heart attacks causes changes in facial muscles, resulting in variations in patterns of facial expression. This work intends to develop an automatic facial expression detection to identify the severity of chest pain as a vital sign of MI, using an algorithmic approach that is implemented with a state-of-the-art convolutional neural network (CNN). The advanced object detection lightweight CNN models are as follows: Single Shot Detector Mobile Net V2, and Single Shot Detector Inception V2, which were utilized for designing the vital signs MI model from the 500 Red Blue Green Color images private dataset. The authors developed cardiac emergency health monitoring care using an Edge Artificial Intelligence (“Edge AI”) using NVIDIA’s Jetson Nano embedded GPU platform. The proposed model is mainly focused on the factors of low cost and less power consumption for onboard real-time detection of vital signs of myocardial infarction. The evaluated metrics achieve a mean Average Precision of 85.18%, Average Recall of 88.32%, and 6.85 frames per second for the generated detections.
医学史表明，心肌梗死是人类死亡的主要原因之一。心绞痛是心肌梗死的重要生命体征。医学报告表明，心脏病发作时的胸痛会引起面部肌肉的变化，从而导致面部表情模式的变化。这项工作旨在开发一种自动面部表情检测，以识别胸痛的严重程度，作为心肌梗死的生命体征，使用最先进的卷积神经网络(CNN)实现算法方法。先进的目标检测轻量级CNN模型有:Single Shot Detector Mobile Net V2和Single Shot Detector Inception V2，用于设计500张红蓝绿图像私有数据集的生命体征MI模型。作者使用使用NVIDIA的Jetson Nano嵌入式GPU平台的边缘人工智能(“边缘AI”)开发了心脏紧急健康监测护理。该模型主要着眼于低成本和低功耗的因素，用于车载实时检测心肌梗死的生命体征。评估的指标达到了85.18%的平均精度，88.32%的平均召回率和6.85帧/秒的生成检测。
{"title":"Edge Artificial Intelligence-Based Facial Pain Recognition During Myocardial Infarction","authors":"H. M. Mohan, H. Kumara, S. H. Mallikarjun, A. Y. Prasad","doi":"10.14313/jamris/3-2022/23","DOIUrl":"https://doi.org/10.14313/jamris/3-2022/23","url":null,"abstract":"Abstract Medical history highlights that myocardial infarction is one of the leading factors of death in human beings. Angina pectoris is a prominent vital sign of myocardial infarction. Medical reports suggest that experiencing chest pain during heart attacks causes changes in facial muscles, resulting in variations in patterns of facial expression. This work intends to develop an automatic facial expression detection to identify the severity of chest pain as a vital sign of MI, using an algorithmic approach that is implemented with a state-of-the-art convolutional neural network (CNN). The advanced object detection lightweight CNN models are as follows: Single Shot Detector Mobile Net V2, and Single Shot Detector Inception V2, which were utilized for designing the vital signs MI model from the 500 Red Blue Green Color images private dataset. The authors developed cardiac emergency health monitoring care using an Edge Artificial Intelligence (“Edge AI”) using NVIDIA’s Jetson Nano embedded GPU platform. The proposed model is mainly focused on the factors of low cost and less power consumption for onboard real-time detection of vital signs of myocardial infarction. The evaluated metrics achieve a mean Average Precision of 85.18%, Average Recall of 88.32%, and 6.85 frames per second for the generated detections.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"40 1","pages":"40 - 55"},"PeriodicalIF":0.0,"publicationDate":"2022-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79200750","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 : 2022-05-21DOI: 10.14313/jamris/3-2021/21
T. Kaczorek, K. Borawski
Structurally R-controllable and structurally R-observable descriptor linear electrical circuits are investigated.Sufficient conditions are given under which the Rcontrollability and R-observability of descriptor linear electrical circuits are independent of their parameters.
{"title":"Structurally R-Controllable and Structurally R-Observable Descriptor Linear Electrical Circuits","authors":"T. Kaczorek, K. Borawski","doi":"10.14313/jamris/3-2021/21","DOIUrl":"https://doi.org/10.14313/jamris/3-2021/21","url":null,"abstract":"Structurally R-controllable and structurally R-observable descriptor linear electrical circuits are investigated.Sufficient conditions are given under which the Rcontrollability and R-observability of descriptor linear electrical circuits are independent of their parameters.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"31 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74791872","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}
Square grid representations of the state‐space are a commonly used tool in path planning. With applications in a variety of disciplines, including robotics, computational biology, game development, and beyond. However, in large scale and/or high dimensional environments the creation and manipulation of such structures become too expensive, especially in applications when an accurate representation is needed.In this paper, we present a method for reducing the cost of single‐query grid‐based path planning, by focusing the search to a smaller subset, that containsthe optimal solution. This subset is represented by a hyper‐rectangle, the location, and dimensions of which are calculated departing from an initial feasible path found by a fast search using the RRT* algorithm. We also present an implementation of this focused discretization method called FDA*, a resolution optimal algorithm, where the A* algorithm is employed in searching the resulting graph for an optimal solution. We also demonstrate through simulation results, that the FDA* algorithm uses less memory and has a shorter run‐time compared to classic A* and thus other graph based planning algorithms, and in the same time, the resulting path cost is less than that of regular RRT based algorithms.
{"title":"FDA*: A Focused Single-Query Grid Based Path Planning Algorithm","authors":"Mouad Boumediene, Lamine Mehennaoui, Abderezzak Lachouri","doi":"10.14313/jamris/3-2021/17","DOIUrl":"https://doi.org/10.14313/jamris/3-2021/17","url":null,"abstract":"Square grid representations of the state‐space are a commonly used tool in path planning. With applications in a variety of disciplines, including robotics, computational biology, game development, and beyond. However, in large scale and/or high dimensional environments the creation and manipulation of such structures become too expensive, especially in applications when an accurate representation is needed.In this paper, we present a method for reducing the cost of single‐query grid‐based path planning, by focusing the search to a smaller subset, that containsthe optimal solution. This subset is represented by a hyper‐rectangle, the location, and dimensions of which are calculated departing from an initial feasible path found by a fast search using the RRT* algorithm. We also present an implementation of this focused discretization method called FDA*, a resolution optimal algorithm, where the A* algorithm is employed in searching the resulting graph for an optimal solution. We also demonstrate through simulation results, that the FDA* algorithm uses less memory and has a shorter run‐time compared to classic A* and thus other graph based planning algorithms, and in the same time, the resulting path cost is less than that of regular RRT based algorithms.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77790113","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 : 2022-05-21DOI: 10.14313/jamris/3-2021/19
Radosław Nawrocki
Optimisation of the dynamic response of gimbal seeker plays key role from the point of view of development of anti-tank guided missile’s systems. In this study the set of the most important internal disturbances were integrated in generalized model of two axis gimbal seeker implemented in MathWorks’ Simulink environment. Compared to previous works on the subject, it was enhanced by replacing simple friction model with dynamic LuGre friction. Furthermore, its Coulomb component was linked to the normal force induced by missile’s lateral acceleration. Control system of gimbal seeker proposed in paper was tuned with modelled disturbances turned off and then examined with them being turned one by one. System’s responses were assessed to be significantly deteriorated, proving need of disturbance modelling and its use in control systems’ design.
{"title":"Unified Model of Disturbances Acting Upon Gimbal Seeker in Anti-Tank Guided Missile","authors":"Radosław Nawrocki","doi":"10.14313/jamris/3-2021/19","DOIUrl":"https://doi.org/10.14313/jamris/3-2021/19","url":null,"abstract":"Optimisation of the dynamic response of gimbal seeker plays key role from the point of view of development of anti-tank guided missile’s systems. In this study the set of the most important internal disturbances were integrated in generalized model of two axis gimbal seeker implemented in MathWorks’ Simulink environment. Compared to previous works on the subject, it was enhanced by replacing simple friction model with dynamic LuGre friction. Furthermore, its Coulomb component was linked to the normal force induced by missile’s lateral acceleration. Control system of gimbal seeker proposed in paper was tuned with modelled disturbances turned off and then examined with them being turned one by one. System’s responses were assessed to be significantly deteriorated, proving need of disturbance modelling and its use in control systems’ design.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"18 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77513548","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 : 2022-05-21DOI: 10.14313/jamris/3-2021/15
Filip Gwardecki, P. Falkowski
The paper presents an approach to parametric optimization with response surface methodology. This process was performed based on the design of a construction frame for a Cartesian industrial robot. The presented installation is dedicated to the real industrial pick-and-place application. Firstly, the case study was described with relevant information about the components involved. Then, the finite element model with constraints and loads, as well as the settings of the response surface optimization were discussed. The simulation was presented to the reader within all the stages with necessary details. Into consideration were taken six methods of creating response surfaces. Influence on the final optimization result and prediction accuracy of each one was presented. In the end, to validate the outcomes of the process, the static structural analysis of the setup was computed.The paper compares the impact of applying different methods of response surface generation on the results of parametric optimization. Moreover, it indicates the most vulnerable fragments of dynamically loaded elements made of construction profiles. Its results may be used to select appropriate settings in similar applications, mainly for frame structures.
{"title":"An Approach Towards Parametric Optimisation of Construction Frames for Cartesian Industrial Robots","authors":"Filip Gwardecki, P. Falkowski","doi":"10.14313/jamris/3-2021/15","DOIUrl":"https://doi.org/10.14313/jamris/3-2021/15","url":null,"abstract":"The paper presents an approach to parametric optimization with response surface methodology. This process was performed based on the design of a construction frame for a Cartesian industrial robot. The presented installation is dedicated to the real industrial pick-and-place application. Firstly, the case study was described with relevant information about the components involved. Then, the finite element model with constraints and loads, as well as the settings of the response surface optimization were discussed. The simulation was presented to the reader within all the stages with necessary details. Into consideration were taken six methods of creating response surfaces. Influence on the final optimization result and prediction accuracy of each one was presented. In the end, to validate the outcomes of the process, the static structural analysis of the setup was computed.The paper compares the impact of applying different methods of response surface generation on the results of parametric optimization. Moreover, it indicates the most vulnerable fragments of dynamically loaded elements made of construction profiles. Its results may be used to select appropriate settings in similar applications, mainly for frame structures.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"17 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87294609","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 : 2022-05-21DOI: 10.14313/jamris/3-2021/16
Wojciech Łabuński, A. Burghardt
The development of robotic systems is correlated with the development of their software. Expanding robot implementation areas and attempts to replace more and more groups of activities carried out by people requires increasing the degrees of freedom, introducing robot interaction with the environment, and preparing software that manages over six degrees of freedom in a friendly, understandable, ergonomic, and functional manner. The authors proposed a method of programming a collaborative robot with the use of a joystick, created the necessary software, constructed elements of the system, obtaining an original, flexible, and intuitive solution. As part of the work, the proposed solution has been simulated and verified. Verification of the proposed solution was carried out on a real bench equipped with a cobot, Kawasaki duAro.
{"title":"Software for the Control and Monitoring of Work of a Collaborative Robot","authors":"Wojciech Łabuński, A. Burghardt","doi":"10.14313/jamris/3-2021/16","DOIUrl":"https://doi.org/10.14313/jamris/3-2021/16","url":null,"abstract":"The development of robotic systems is correlated with the development of their software. Expanding robot implementation areas and attempts to replace more and more groups of activities carried out by people requires increasing the degrees of freedom, introducing robot interaction with the environment, and preparing software that manages over six degrees of freedom in a friendly, understandable, ergonomic, and functional manner. The authors proposed a method of programming a collaborative robot with the use of a joystick, created the necessary software, constructed elements of the system, obtaining an original, flexible, and intuitive solution. As part of the work, the proposed solution has been simulated and verified. Verification of the proposed solution was carried out on a real bench equipped with a cobot, Kawasaki duAro.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"49 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90280557","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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