Advances in Service and Industrial Robotics

Name: Advances in Service and Industrial Robotics | Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019)
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Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019)

Karsten Berns Daniel Görges(Herausgeber*in)

Springer (Verlag)

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Erschienen am 7. Mai 2019

XV, 563 Seiten

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978-3-030-19648-6 (ISBN)

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Inhalt

Intro
Preface
Organization
General Chair
Co-chair
International Scientific Committee
Advisory Board
National Organizing Committee
Local Organizing Committee
Contents
Mechanical Design and Kinematics
An Integrated Taxonomy and Critical Review of Module Designs for Serial Reconfigurable Manipulators
Abstract
1 Introduction
2 Module Categories - Module Taxonomy and Typology
2.1 First Aspect: Operation - Active vs Passive
2.2 Second Aspect: Connectivity - Automatic vs User Operated and Multiplicity
2.3 Third Aspect: Homogeneity vs Heterogeneity
3 State of the Art Module Designs as a Basis for the Design of Modules for a Self-metamorphic Manipulator System - Identification of Major Design Perquisites
4 Discussion and Future Work
Acknowledgement
References
Geometry and Inverse Kinematics of 3-PRRS Type Parallel Manipulator
Abstract
1 Introduction
2 Geometry of the Parallel Manipulator
3 Inverse Kinematics of the Parallel Manipulator
4 Conclusions
References
Linear Motion Mechanisms for Fine Position Adjustment of Heavy Weight Platforms
Abstract
1 Introduction
2 The Concept
3 Design of Motion Reducer
4 Experiments
5 Conclusions
Acknowledgments
References
Compliant Mechanisms for Motion/Force Amplifiers for Robotics
Abstract
1 Introduction
2 Some Structures of Mechanical Amplifiers
3 Design of Motion Reducer/Force Amplifier
3.1 The Two Levers Amplifier
3.2 Bridge-Type and Rhombus Mechanical Amplifier
3.3 Results
4 Conclusion
Acknowledgment
References
Design and Control of a Flapping Wing System Test Bench
1 Introduction
1.1 Problem Background
1.2 Related Works
1.3 Considerations
2 Requirements
3 System Model
3.1 Mechanical Model of the System
3.2 Equations of Movement and Dynamics
4 Test Bench Design
5 Test Bench Control System
6 Test and Results
7 Discussion
8 Conclusion
References
Approximation of Inverse Kinematic Solution of a Metamorphic 3R Manipulator with Multilayer Perceptron
Abstract
1 Introduction
2 The Proposed Method
2.1 The Metamorphic Manipulator with One Pseudo-Joint
2.2 ANN Architecture
3 Application and Discussion of Results
4 Conclusions
Acknowledgement
References
Mechanical Design, Modeling and Simulation of Human-Size Cable-Driven Over-Actuated Robotic Arm
Abstract
1 Introduction
2 Progress Beyond the State-of-the-Art
3 Mechanical Design of Robotic Arm
4 Modeling and Simulation
5 Conclusions and Future Work
Acknowledgements
References
Robot Control
Torque-Based Velocity Control for Safe Human-Humanoid Interaction
1 Introduction
2 Control Method
2.1 Low-Level Torque Control (LLTC)
2.2 Torque-Based Velocity Controller
3 Experimental Validation
4 Conclusion
References
On an Analytic Generation of Null Space Spanners in Robotics
1 Introduction
2 Preliminaries and Algorithms Generating Kernels of a Symbolic Matrix
3 Simulations
4 Conclusion
References
Velocity Motion Path Control of Redundant Robot Arms
Abstract
1 Introduction
2 Problem Statement
3 Velocity Profile in Task Space
4 Numerical Experiments of the Proposed Solution
5 Conclusion
Acknowledgement
References
Reduction of Trajectory Encoding Data Using a Deep Autoencoder Network: Robotic Throwing
1 Introduction and Related Work
2 Trajectory and Learning
2.1 Cartesian Space Dynamic Movement Primitives
2.2 PoWER
3 Deep Autoencoder Network
4 Experimental Evaluation
5 Results
6 Conclusion
References
Shared Impedance Control Based on Reinforcement Learning in a Human-Robot Collaboration Task
1 Introduction
2 Control Structure Overview
2.1 Problem Formulation
2.2 Overview of the Shared Control Structure
3 Approach
3.1 Reinforcement Learning
3.2 Adaptive Impedance Control
4 Experimental Validation
5 Conclusion
References
Gain Scheduled PID Force Control of a Robotic Arm for Sewing Fabrics
Abstract
1 Introduction
2 The Proposed Method and Modelling of the Fabric
3 Gain Scheduling of the Controller for the Sewing Task
4 Experimental Results of the Robotized Sewing
5 Conclusion and Future Work
References
Industry Robotics
Implementation of an Autonomous Tool Trolley in a Production Line
1 Introduction
2 System Overview
3 Autonomous Navigation
4 Experiments
4.1 Localisation Error
4.2 Positioning Error
5 Conclusion
References
Developing a Production Scheduling System for Modular Factory Using Constraint Programming
Abstract
1 Introduction
2 Methodology
2.1 Production Scheduling for a Modular Factory
2.2 Constraint Programming Modelling
3 Case Study
3.1 Modular Factory in SmartFactoryKL
3.2 Results
4 Conclusion
Acknowledgements
References
Robotic System Reliability Analysis and RUL Estimation Using an Iterative Approach
Abstract
1 Introduction
2 A Closed Loop Methodology for Life Component Prognostics Based on Reliability Analysis
2.1 FMECA and Risk Analysis Evaluation
2.2 Data-Driven Methods and Model-Based Approach for RUL Estimation
3 Robot LDA for Reliability Analysis
4 Conclusions
Acknowledgements
References
Edge Computing in Smart Production
Abstract
1 Introduction
2 Systematic Architecture of Edge Computing for CPPS
2.1 Requirements
2.2 Components
2.3 Edge Services
3 Case Study
3.1 The Features of the Modular Factory Using Edge Servers
3.2 Implementation of Edge Services
3.2.1 3D Visualizer Service
3.2.2 Object Detection Service
3.3 Performance Comparison with Cloud Service
4 Discussion and Conclude Remarks
Acknowledgements
References
Neural Adaptive Control of a Robot Joint Using Secondary Encoders
1 Introduction
2 Concept
3 Runge-Kutta Neural Networks
4 Controller
5 Simulation Model
6 Simulations Results
7 Conclusion
References
Task-Dependent Energetic Analysis of a 3 d.o.f. Industrial Manipulator
1 Introduction
2 Dynamic and Electro-Mechanical Model
3 Task-Dependent Energetic Performance Evaluation
4 Conclusions
References
3D Printing with 6D of Freedom: Controlling Material Extrusion Speed
1 Introduction
2 Set-Up: Control System with Manipulator and Components
2.1 Software and Communication
3 Material Extrusion Control Based on Prediction of Motion Speed
3.1 Predicting the Actual TCP Speed
4 Printing Results: Comparison in Quality
5 Conclusion
References
Robotic Knitting in String Art as a Tool for Creative Design Processes
1 Introduction
2 Integrated Design Approach
2.1 Robot's Work Area
2.2 The String Knitting Process
2.3 Forming the Image
2.4 The Fabrication Process
3 Conclusion
References
Towards Using Natural User Interfaces for Robotic Arm Manipulation
Abstract
1 Introduction
2 Materials and Methods
2.1 The Hardware and Software Architecture of the NUI Interface
3 Evaluation of NUI Interface
4 Conclusions
Acknowledgment
References
Grounding of Uncertain Force Parameters in Spoken Robot Commands
1 Introduction
2 Related Work
3 Interpreting Uncertain Force Parameters
3.1 Fuzzy Logic
3.2 Fuzzy Force Model
4 Prototype Evaluation
5 Conclusion
References
Integrated Palletizing Workstation with an Industrial Robot and a Cobot
Abstract
1 Introduction
2 Specification of Handling and Palletizing Activities of the Production Process for Robot Deployment
3 Options of Robot Deployment to Palletizing
3.1 Palletization by Means of Palletizers
3.2 Palletization with Industrial Robots
3.3 Palletizing Cobot
4 Methodological Framework of the Design of Mixed Palletizing Workplaces for Robots
5 Conclusion
References
A General Approach for Automating Teleoperated Construction Machines
1 Introduction
2 Communication Between PC and Machine
3 Real-Time Cartesian Control
3.1 Kinematic Model
3.2 Cartesian Control
3.3 Kinematic Constraints
4 Experimental Setup
5 Conclusion
References
Path Planning and Navigation
Automatic Path Planning for Unmanned Ground Vehicle Using UAV Imagery
1 Introduction
2 The Case Study
3 Fieldwork and Data Acquisition for Base Map Generation
4 Data Processing and Validation
5 Mask Generation for Path Planning
6 Steps to Generate Path Plan
7 Parcel Recognition and Rows Clustering
8 Steps Generation and Path Planning
9 Conclusion and Future Work
References
Indoor Navigation Using Existing Infrastructure for Professional Service Robots
Abstract
1 Introduction
2 Case Study
3 A New Approach to Indoor Navigation Based on Already Existing Infrastructure
3.1 Preliminary Preparation for Use of the Available Infrastructure for Robot Localization and Navigation
3.2 Initial Localization of a Robot
3.3 Planning a Trajectory
3.4 Detecting Fixed and Movable Obstacles
3.5 Monitoring and Correction of the Trajectory Execution
3.6 Overlapping of the Observed Areas
4 Experiments and Results
5 Conclusion
Acknowledgement
References
Online Trajectory Planning and Collision Avoidance for a Group of Robots Using Distributed Model Predictive Control
1 Introduction
1.1 Robot Dynamics *0mm
1.2 Model Constraints
2 Trajectory Planning
2.1 Model Predictive Control
2.2 Target Tracking
2.3 Constraints
2.4 Track Boundaries
3 Distributed Model Predictive Control
4 Conclusion
References
Whole-Body Planning for Obstacle Traversal with Autonomous Mobile Ground Robots
1 Introduction
2 Related Work
2.1 Stability Margin
2.2 Stability Control
3 Whole-Body Planning
3.1 Cost Function
3.2 Optimization Constraints
3.3 Optimization Process
4 Evaluation
5 Conclusion
References
Connections for Path Planning in Mobile Robotics
Abstract
1 Introduction
2 Connecting the Linear Sections of the Global Trajectories
2.1 Connection Through Arcs of Circle
2.2 Connection Through Arcs of Circle and Splines Curves
2.3 Connection Through Arcs of Clothoid
3 Conclusions
References
Safe and Efficient Navigation of an Autonomous Shuttle in a Pedestrian Zone
1 Introduction
2 Architecture
3 Pedestrian Interaction System
3.1 Social Collision Avoidance
3.2 Tentacle-Based Evasion
4 Experiments and Results
4.1 Trajectory and Activities
4.2 Travel Time
5 Conclusion
References
Task Dependent Trajectory Learning from Multiple Demonstrations Using Movement Primitives
Abstract
1 Introduction
2 Methods
2.1 Learning Task Redundancies
2.2 Reproduction
3 Results
4 Discussion and Future Work
5 Conclusion
Acknowledgments
References
Advances in Human-Robot Interaction
Bounded Self-motion of Functional Redundant Robots
1 Introduction
2 Modelling
3 Redundancy
4 Kinematic Control
5 Case Study
6 Conclusion
References
On-line Adaption of Virtual Guides Through Physical Interaction
1 Introduction
2 Adaptation of Virtual Guides
3 Results
4 Conclusion
References
A Comparison of Policy Search in Joint Space and Cartesian Space for Refinement of Skills
1 Refinement of Demonstrated Skills
2 Related Work
3 Configurable Approximate Inverse Kinematics
4 Experiments
4.1 Methods
4.2 Problems and Results
4.3 Discussion
5 Conclusion
References
KUKA LWR Robot Cartesian Stiffness Control Based on Kinematic Redundancy
Abstract
1 Introduction
2 Cartesian Control Design Through the Null-Space Optimization
3 Simulation and Experimental Results
4 Conclusion
References
Influence of Unmodelled External Forces on the Quality of Collision Detection
Abstract
1 Introduction
2 Experiment Description
3 Manipulation Task Analysis
4 Assembly Task Analysis
5 Discussion and Conclusion
References
Use of Bimanual Haptic Teleoperation System for Optimized Task Performance with Adaptive Haptic Tunnel
Abstract
1 Introduction
2 Methods
2.1 Teleoperation Control
2.2 Implementation of Bimanual Control
2.3 Initial Reference Trajectory
2.4 Development of the Haptic Tunnel
2.5 Adaptive Radius of the Haptic Tunnel
2.6 Experimental Bimanual Task
3 Results
4 Discussions and Conclusions
Acknowledgements
References
Feedforward Control Approaches to Bidirectional Antagonistic Actuators Based on Learning
Abstract
1 Introduction
2 Qb Actuator Static Model
3 Training Methods
3.1 Neural Network Design
3.2 Locally Weighted Projection Regression
4 Experimental Results
5 Conclusion
References
Knowledge Acquisition Through Human Demonstration for Industrial Robotic Assembly
1 Introduction
2 Data Acquisition
2.1 Kinesthetic Guidance
2.2 Wireless Joystick Control
2.3 Custom Button Interface
3 Robot Trajectory Generation
3.1 Point to Point Movements
3.2 Free from Movement Representation
4 Motion Strategy Evaluation Through an Industrial Use Case
5 Conclusion
References
Medical and Rehabilitation Robotics
Extension of Matlab's PDE Toolbox for Developing Bionic Structural Optimization Methods: Overlapping Region Concept
Abstract
1 Introduction
2 Methods and Implementation
3 Examples
3.1 Free-Form Surface Load for a Ball Bearing
3.2 Free-Form Surface Load for a Beam During Structural Optimization
4 Conclusion
References
Kinematic Design of a Hybrid Mechanism for Bone Reduction Surgery
Abstract
1 Introduction
2 Hybrid Planar-Tripod Architecture
3 Mechanism Kinematic Analysis
4 Mechanism Workspace Analysis
5 Conclusion
References
Pneumo-tronic Perturbator for the Study of Human Postural Responses
Abstract
1 Introduction
2 Materials and Methods
3 Results of the Experimentation and Discussion
4 Conclusion
References
Tilt-Twist Method Using Inertial Sensors to Assess Spinal Posture During Gait
Abstract
1 Introduction
2 Tilt-Twist Method
2.1 Theoretical Aspects
2.2 Practical Aspects
3 Materials and Methods
3.1 Instruments
3.2 Protocol
3.3 Signal Processing and Data Analysis
4 Results and Discussion
5 Conclusion
Acknowledgments
References
Wrist Rehabilitation Equipment Based on the Fin-Ray® Effect
Abstract
1 Introduction
2 Design Requirements
3 Constructive Principle of the Rehabilitation Equipment
4 Conclusion
References
A Two-Degree of Freedom Mobile Ankle Rehabilitation Unit (MARU) to Improve and Track Joint Mobility
Abstract
1 Introduction
1.1 The Need for Mobile Rehabilitation
1.2 State of the Art
1.3 Project Definition
2 System Description
2.1 Structural Design
2.2 Actuation and Control
2.3 Automated Design Process
2.4 Realization
3 Future Work
References
Model Based Analysis of Trunk Exoskeleton for Human Efforts Reduction
Abstract
1 Introduction
2 3D Multibody Model
2.1 Human Model
2.2 Exoskeleton Model
3 Simulation
3.1 Human Joint Kinematics in Lifting Movements
3.2 Exoskeleton Joints Configuration
3.3 Simulation Description
4 Results and Discussion
5 Conclusion
Acknowledgement
References
Safety Related Devices and Applications
Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform
Abstract
1 Introduction
2 Accuracy Validation of the Contactless Master Device
2.1 Leap Motion Sensor
2.2 Experimental Accuracy Evaluation
3 Teleoperation Platform
4 Conclusion
Acknowledgements
References
Collaborative Robotics Safety Control Application Using Dynamic Safety Zones Based on the ISO/TS 15066:2016
Abstract
1 Introduction
2 Preliminaries
3 Proposed Method
4 Experimental Evaluation
5 Conclusions
Acknowledgement
References
Versatile Collaborative Robot Applications Through Safety-Rated Modification Limits
1 Introduction
2 Concept Description
2.1 Modelling
2.2 Analysis
2.3 Identification
2.4 Operation
3 Modification Dimensions in Collaborative Applications
4 Proposed Software Framework
5 Conclusions
References
Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot
Abstract
1 Introduction
2 Experimental Protocol
3 Data Analysis: Gestures and Effort
4 Conclusion
Acknowledgements
References
Efficient, Risk-Encoding Octrees for Path Planning with a Robot Manipulator
1 Introduction
2 Related Work
3 Our Approach
3.1 Hierarchical Brushfire Algorithm
3.2 Pose Tests
4 Evaluation
5 Conclusion
References
Structural Compliance Effects on the Accuracy and Safety of a R-CUBE Haptic Device
Abstract
1 Introduction
2 R-CUBE Architecture
3 Structural Performance
4 Experimental Validation
5 Conclusions
Acknowledgments
References
Robot Vision
Adaptive Recognition for Tracking of Moving Objects
Abstract
1 Introduction
2 Primary Patterns
3 Secondary Patterns
4 Reduction of Findings
5 Identity Estimation
6 Search Mode
7 Track Mode
8 Conclusion
Acknowledgment
References
Probabilistic Orientation Resolution for Near Symmetrical Objects Using Depth Images
1 Introduction
2 Related Work
3 Approach
3.1 Prior Information Generation
3.2 Region of Interest Determination
3.3 Probabilistic Inference
4 Evaluation
4.1 Noise Models
4.2 Sensitivity Analysis on Simulated Data
4.3 Viewpoint Analysis
4.4 Effect of Post-processing Step on Perception Pipeline
4.5 Runtime Analysis
5 Conclusion
References
Generation of Elevation Maps for Planning and Navigation of Vehicles in Rough Natural Terrain
1 Introduction
2 Related Work
3 Methodology
3.1 Filtering and Plane Extraction
3.2 Point Cloud Transformation
3.3 Stitching and Mapping
4 Experimentation and Evaluation
5 Conclusion and Future Work
References
Learning to Predict 2D Object Instances by Applying Model-Based 6D Pose Estimation
1 Introduction
2 Vision Pipeline
2.1 Basic Pipeline
2.2 Learning by Automatic Labeling
3 New Pose Estimation Approach
3.1 Object Instance Segmentation
3.2 Transfer Learning
3.3 Dataset Generation
4 Evaluation
4.1 Dataset
4.2 Segmentation and Pose Estimation
4.3 Training Data and Model Evaluation
5 Conclusion
References
Dataset Generation Using a Simulated World
1 Introduction
2 Generating Simulated Datasets
2.1 Visual Capabilities of Simulation Engines
2.2 Generating Ground Truth Data
3 Simulated Versus Real Datasets
4 Training with Simulated Data
5 Conclusion and Outlook
References
Convolutional Encoder-Decoder Networks for Robust Image-to-Motion Prediction
1 Introduction
2 Convolutional Image-to-Motion Encoder-Decoder Networks
2.1 Motion Representation with DMPs
2.2 Network Architecture
3 Experiments
3.1 Datasets
3.2 Results
4 Conclusions and Future Work
References
Multi-robot and Communication Systems
A Swarm Algorithm Inspired by Tree-Dwelling Bats. Experiments and Evaluations
1 Introduction and Related Works
2 Algorithm Description
3 Simulation Experiments and Results
4 Conclusions
References
Secure Sharing of Robot and Manufacturing Resources in the Cloud for Research and Development
Abstract
1 Introduction
2 Remote Control of Robotic Manufacturing Systems Using Cloud
3 The Cloud System Architecture and the Service Request
4 Provisioning the VMs
5 Experimental Results and Conclusion
References
Communication Between Robots over Intelligent Objects Realized by RFID Tags
1 Introduction
2 Communication over RFID Tags
3 Handing over of Workpieces
4 Further Scenarios
4.1 Force-Based Cooperation Between Robots
4.2 Localization Before Grasping
4.3 Collision Avoidance
5 Conclusion
References
Average Consensus with Bounded Execution Under Quantization Noise
1 Introduction
2 Theoretical Background
2.1 Model of Average Consensus Algorithm with Bounded Execution
2.2 Uniform Quantization Update Rule
3 Experiments and Discussion
4 Conclusion
References
Author Index

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