Advances in Service and Industrial Robotics

Name: Advances in Service and Industrial Robotics | RAAD 2022
Brand: Springer
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RAAD 2022

Andreas Müller Mathias Brandstötter(Herausgeber*in)

Springer (Verlag)

1. Auflage

Erschienen am 22. April 2022

XVI, 615 Seiten

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978-3-031-04870-8 (ISBN)

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Inhalt

Intro
Preface
Welcome Address from the Founder of RAAD, Jadran Lenarcic
Contents
Robot Modeling and Identification
Geometric Identification of Denavit-Hartenberg Parameters with Optical Measuring System
1 Introduction
2 Kinematic Parameters
3 Experimental Identification of DH Parameter
3.1 Experimental Setup
3.2 Results
4 Conclusion
References
Kinematics of the "Ai-Gerim" Robot Arm
1 Introduction
2 Direct Kinematics
3 Inverse Kinematics
4 Conclusion
References
Singularity Robust Inverse Kinematics of Serial Manipulators by Means of a Joint Arc Length Parameterization
1 Introduction
2 Kinematics in Terms of Path Parameter
2.1 Forward Kinematics
2.2 Inverse Kinematics
3 Kinematics in Terms of Arc Length
3.1 Arc Length Parameterization
3.2 Numerical Solution of the Initial Value Problem
4 A Singularity-Consistent Sampling Scheme
5 Simulation Results
6 Conclusion and Outlook
References
Simulation of the Effects of Backlash on the Performance of a Collaborative Robot: A Preliminary Case Study
1 Introduction
2 Dynamic Model of a UR5 Collaborative Robot
2.1 Moto-Reducers
2.2 Sensors
3 Simulations Results
4 Conclusions
References
Modeling and Analysis of an S-Shape Link for an Anthropomorphic Robotic Arm
1 Introduction
2 Problem Formulation
3 S-Shape Link Design and Analysis
3.1 Discretized Modelling
3.2 Augmentation of Compliance Matrix
4 Conclusion
References s
Parallelized Forward Kinematics Using Product of Exponentials in PyTorch
1 Introduction
2 Forward Kinematics Using Product of Exponentials
3 Parallelization Approach
3.1 Vector to so(3)
3.2 so(3) to Vector
3.3 Vector to se(3)
3.4 MatrixExp3
3.5 MatrixExp6
3.6 Full Product Implementation
4 Results
5 Conclusion
References
Simultaneous Calibration and Stiffness Identification of Flexible Link Robots Using Lumped Parameter Model
1 Introduction
2 Lumped Parameter Model
2.1 Kinematic Model
2.2 Dynamic Model
3 Parameter Identification
4 Results
5 Conclusion
References
Analysis of the Singularities Influence on the Forward Kinematics Solution and the Geometry of the Workspace of the Gough-Stewart Platform
1 Introduction
2 Mathematical Model of the Platform
3 Analysis of the Singularities Influence on the Forward Kinematics
4 Analysis of the Influence of Singularities on the Geometry of the Workspace
5 Conclusion
References
Perception and Learning
Structure Synthesis for Extended Robot State Automata
1 Introduction
2 Related Work
3 Marking Formalism
4 Algorithms
5 Experiments
6 Conclusion
References
Intuitive Optimization of Kinesthetic Programmed Trajectories for Fiber Spraying
1 Introduction
2 Related Work
3 Optimization of Kinesthetic Programmed Trajectories
3.1 Definitions
3.2 Optimization Methods
3.3 User Interface
4 Experiments
4.1 Experiment Setup
4.2 Experiment Results
4.3 Discussion
5 Conclusion
References
Towards Dynamic Obstacle Avoidance for Robot Manipulators with Deep Reinforcement Learning
1 Introduction
2 Related Work
3 Problem Description
4 Method
4.1 Simulation
4.2 Gym Environment
4.3 Policy Training
5 Experiments
6 Conclusion
References
Cable-Driven Parallel Robot Accuracy Improving Using Visual Servoing
1 Introduction
2 Experimental Setup
2.1 Rehabilitation Task Analysis
2.2 CDPR Prototype
3 Visual-Based Control Technique
3.1 Experimental Setup and Visual Servoing
3.2 Results
4 Conclusion
References
Explaining Local Path Plans Using LIME
1 Introduction
2 Related work
3 Technical Background
4 Explaining Local Paths with LIME
4.1 Technical Set-up
4.2 Results
5 Discussion
6 Conclusions
References
A Fast Method for Explanations of Failures in Optimization-Based Robot Motion Planning
1 Introduction
2 Related Work
2.1 Diagnosis for Over-Constraint Problems
2.2 Explanations in Robot Motion Planning
3 A Fast Explanation Method for Failed Motion Planning
4 Experiments and Results
5 Conclusion
References
Intelligent Robotic Knowledge-Supported Visual Recognition of Handled Objects in Condictions of Acquiring Incomplete Information
1 Introduction
2 Robotic Visions - Conventional Practice
3 Description of the Object Geometry Understandable to Robot
4 Syntax for Describing Technological Operations Clear to Robots
5 Knowledge-Supported Visual Perception
6 The Object Identification Algorithm with an Experimental Example
7 Conclusions
References
A Brief Survey of Sim2Real Methods for Robot Learning
1 Introduction
2 Simulation-Only Methods
2.1 Randomizing for Perception
2.2 Randomizing for Control
3 Adaptation Techniques
3.1 Combining Simulated and Real Data
3.2 Hybrid Models
4 Imitation Learning
5 Conclusion
References
Applying Monte Carlo Search and Monte Carlo Tree Search on Embedded Systems to Play Connect Four with a Robotic Arm
1 Introduction
2 Connect Four
3 Monte Carlo Methods
3.1 Monte Carlo Search
3.2 Monte Carlo Tree Search
4 Materials and Methods
5 Results and Discussion
6 Conclusion
References
Improving Kinesthetic Teaching of Fine Tasks Using a Teaching Agent
1 Introduction
2 Materials and Methods
2.1 Experimental Setup
2.2 Trajectory Demonstration
2.3 Frequency-Based GMM Component Density Modification
3 Results
3.1 Trajectory Demonstration
3.2 Frequency-Based GMM Component Density Modification
4 Discussion
5 Conclusion
References
Motion Planning and Control
Projecting Robot Dynamics onto Trajectories
1 Introduction
2 General Concept
2.1 Motion and Projections
2.2 Mobility Space by Ruled Surfaces
3 Example Multi-DOF-Robot with Revolute Joints
4 Conclusion
References
Fitting Constrained Trajectory with High Variability into Redundant Robot Workspace
1 Introduction
2 Robot and Definition of the Problem
3 Dynamic Movement Primitives and Database Acquisition
3.1 Cartesian Dynamic Movement Primitives (CDMPs)
3.2 Database Acquisition
4 Generalization and Evolutionary Algorithm
5 Results
6 Conclusion
References
Experimental Validation of a Variable Stiffness Joint Based on Antagonistic Principle
1 Introduction
2 Concept and Mathematical Model
3 Simulation of VSJ Torque
4 Experimental Test
5 VSJ Compact Version
6 Conclusions
References
Optimal Positioning of Mobile Manipulators Using Closed Form Inverse Kinematics
1 Introduction
1.1 System Architecture
2 Redundancy Solution and Manipulability Optimization
2.1 Manipulability Evaluation
3 Combined Mobility and Task Execution
4 Experimental Tests
5 Conclusions
References
Multistage Approach for Solving the Optimal Control Problem for a Wheeled Inverted Pendulum with Infeasible Initial Guess
1 Introduction
2 Dynamic Model
3 Distance to Obstacle
4 Optimal Control Problem
5 Multistage Approach
6 Results
7 Conclusion
References
Computational-Efficient Resolved Motion Rate Control with Task-Space Trajectory Tracking
1 Introduction. Task-Space Control
2 RMRC with Pipelined Task-Space Trajectory Tracking
3 Trajectory Generator with Hybrid Task-Space Feedback
4 A Low-Cost Multiprocessor Implementation Solution
5 Conclusion
References
Fractional-Order PII1/2DD1/2Control of a Mechatronic Axis: Influence of the Discrete-Time Approximation of the Half-Order Derivative and Integral
1 Introduction
2 Discrete Time Implementation of Fractional-Order Derivatives and Integrals
3 PII1/2DD1/2Control of a Rotary Axis
4 Analysis of the Influence of Sampling Time and Filter Order
5 Conclusions and Future Developments
References
Fractional Order Calculus-Inspired Kinematic Design in Adaptive Control
1 Introduction
2 Simple Weighted Sum as Kinematic Error Feedback
3 Simulation Results and Conclusions
References
Robot Design and Synthesis
Anatomy Categorization of a Serial Metamorphic Manipulator for Optimized Robust Controller Performance
1 Introduction
2 Methodology
3 Passive Modules' Parameter Uncertainty
4 Mass Balancing Scoring Index
5 Task Simulations
5.1 Performance of the Proposed Index
5.2 Controller Performance
6 Conclusion and Future Work
References
Design and Control of a Reclining Chair with Soft Pneumatic Cushions
1 Introduction
2 Design of the Automated Reclining Chair
3 Analytical Modelling of the Air-Cells
4 Control System Architecture
5 Results and Discussions
6 Conclusion
References
Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR)
1 Introduction
2 Motivations
2.1 Snake Study
2.2 Mechanical Design
3 Modelling
3.1 Single Section Mapping: Direct and Inverse Kinematic Modelling
3.2 Two-Section Direct Geometric Modelling
4 Experimentations
4.1 Geometric Modelling
4.2 Kinematic Modelling
5 Conclusion
References
A Robot for Facade Cleaning Based on a Cartesian Configuration: Kinematic Analysis and Prototype Construction
1 Introduction
2 Conceptual Design of the Proposal
3 Forward and Inverse Kinematics
4 Prototype Construction
5 Conclusions
References
Study of a Three-Groove Kinematic Coupling for Precise Positioning in a Robotized Laser-Cutting Machine
1 Introduction
2 The Laser-Cutting Machine
3 Positioning Accuracy of a Three-Groove Kinematic Coupling
4 Analysis of the Coupling in the Laser-Cutting Machine
5 Conclusion
References
Shape-Changing Manipulator Possibilities and the Effect of the Deformable Segment on the Size of the Working Area
1 Introduction
2 Materials and Methods
2.1 Segment and Manipulator Definition
2.2 Changing the Working Envelope of the Manipulator When Blocked by an Obstacle and Performing a Shared Path
3 Results
3.1 Manipulator Working Envelope Results
3.2 Changing the Working Envelope of the Manipulator When Blocked by an Obstacle Result
3.3 Performing a Shared Path Result
4 Conclusions and Future Work
References
Analysis of Impacts of the Design Parameters on the Working Frequency of the Compliant Devices
1 Introduction
2 Dynamics and Natural Frequency of Compliant Micro-robotic Devices
3 Sensitivity Analysis
4 Sensitivity Analysis of the Scott-Russell Linkage
5 Sensitivity Analysis of Sensor's Deformable Body
6 Conclusion
References
A Robotics Perspective on Architecture: Modelling and Control of Reconfigurable Buildings
1 Introduction
2 Structural and Reconfiguration Concept
3 Simulation and Experimental Study
4 Dynamics Modelling
5 Conclusions
References
Static Modeling of an Inflatable Robotic Arm for Aerospace Applications
1 Introduction
2 Robotic System
3 Deformation Model
4 Inflatable Link Prototype and Experimental Set-up
5 Results
6 Conclusion
References
Static Balance of a Flexure-Based Four-Bar Mechanism: Less Torque with More Preload
1 Introduction
2 Methods
2.1 Notation
2.2 Kinematics of the Four-Bar Mechanism
2.3 Static Balance Conditions
2.4 Static Balance Solution
3 Case Study: Balancing the Watt's Linkage
4 Conclusion
References
Assistive and Medical Robots
Multibody Analysis and Design Optimization of a Full-Scale Biped-Wheeled Exoskeleton
1 Introduction
2 HANDSHAKE Multibody Model in Full-Scale: Old Version
3 HANDSHAKE Multibody Model in Full-Scale: New Version
4 Results and Discussion
5 Conclusion
References
Null-Space Compliance with Non-linear Behavior: Application to Spine Surgery Robotic Platform
1 Introduction
2 Robotic Platform
2.1 Medical Needs/Gestures
2.2 Description of the Robotic Platform
3 Control Strategy
3.1 General Torque-Based Control Strategy
3.2 Null-Space Control Strategy
4 Results and Discussion
5 Conclusion
References
Optimal Multi-robot Placement Based on Capability Map for Medical Applications
1 Introduction
2 Problematic
3 The Capability Map
3.1 Discretization of R3
3.2 Discretization of So(3)
3.3 Capability Map Generation
4 Formulation and Optimization
4.1 Criteria Definition
4.2 Formulation of the Optimization Problem
5 Results and Discussion
6 Conclusion
References
EMG Driven Robotic-Aided Arm Rehabilitation
1 Introduction
2 Methodology
2.1 Data Acquisition
2.2 EMG Signal Processing
2.3 Robotic Arm
3 Results
3.1 Gesture Classification
3.2 Robotic System Execution
4 Conclusions
References
Evaluation on Implementing an Active Braking System in Wheelchair Rear-Mounted Power-Assisted Device
1 Introduction
2 Wheelchair and Add-On Models
3 Tests and Simulations
3.1 Test 1: Driving Torque
3.2 Test 2: Braking Torque
4 Discussion and Conclusions
References
Research and Control of Wearable Robot for Wrist Rehabilitation
1 Introduction
2 Mechanical Construction of the Robot
3 Hardware and Software Systems of the Robot
3.1 Hardware System of the Robot
3.2 Software System of the Robot
4 Control System of the Robot
5 Experiments and Results
6 Conclusion
References
Geometric Modeling of a New Modular Spherical Robotic System for Single Incision Laparoscopic Surgery
1 Introduction
2 An Innovative Modular Spherical Robot for SILS
3 The Geometric Model of the New Spherical Robot for SILS
3.1 The Inverse Geometric Model of the Spherical Robotic System
3.2 The Forward Geometric Model of the Spherical Robotic System
4 Conclusions
References
Robotic Innovations in Support of the Healthcare Workers Against COVID-19 - DIH-HERO Perspective
1 Introduction
2 DIH-HERO Open Call - Emerging Scenarios as Key Drivers for Innovations
3 Safety and Legal Regulation Affect the Robotic Innovation Deployment
4 Robot Deployment and Impact to the Fight Against COVID-19
5 Conclusion
References
On the Kinematics and Dimensional Optimization of a Robotic System for Single Incision Laparoscopic Surgery
1 Introduction
2 A Robotic System for SILS
3 Kinematic Analysis
3.1 Forward Kinematics
3.2 Inverse Kinematics
4 Dimensional Optimization of the IP Mechanism
5 Conclusions
References
Inverse Dynamic Modeling of a Parallel Elbow Rehabilitation Robot for Spasticity Treatment
1 Introduction
2 The ParReEx-Elbow Parallel Robot for Upper Limb Rehabilitation
3 Inverse Dynamic Model of the ParReEx-Elbow Robotic System
4 Implementation of Inverse Dynamic Model and Experimental Results
5 Conclusion
References
Autonomous Mobile Manipulation
Flexible Vision-Based Auto-docking Control System for Unmanned Ground Vehicles Equipped with Differential Chassis
1 Introduction
2 Target Setting
3 Docking Strategy and Algorithm
3.1 Reverse Motion and Undocking
4 Implementation and Experiments
5 Conclusion
References
Autonomous Driving System for Reversing an Articulated Rover for Precision Agriculture
1 Introduction
2 Articulated Rover Modelling
2.1 Kinematic Model
2.2 Dynamic Model
3 Autonomous Reverse Control System
3.1 Path Planning
3.2 Path Tracking
3.3 Hitch Angle Control
4 Results
5 Conclusions
References
High Accuracy Data-Based Trajectory Tracking of an Omnidirectional Mobile Robot
1 Introduction
2 The Omnidirectional Mobile Robot
3 Data-Based Model of the Mobile Robot
4 Trajectory Tracking of Periodic References
4.1 Generating the Reference Solution
4.2 Model Predictive Trajectory Tracking Controller
5 Experimental Results
6 Conclusion and Outlook
References
Recent Trends in Mobile Robotics for 3D Mapping in Agriculture
1 Introduction
2 Robotic Platforms and Sensors
3 Localization and Mapping
4 Path Planning
5 Application of Artificial Intelligence
6 Conclusion
References
Novel Approaches for Periodic Depth Enhancement in Visual SLAM
1 Introduction
2 Related Work
3 Approach
4 Experimental Evaluation
5 Experimental Results
6 Conclusion
References
Analysis of Object Detection Under Different Weather Conditions in Simulated and Real Environment
1 Introduction
2 Related Work
3 Proposed Work
4 Dataset
5 Training
6 Evaluation and Visualisation
7 Results and Conclusion
References
Putting Mobile Robots into Industrial Warehouses
1 Introduction
2 Calibration of AGVs
3 AGV Localization Without Artificial Landmarks
4 Detection of Semi-static and Dynamic Objects
5 Conclusion
References
Passive Guidance for Offroad-Vehicles
1 Introduction
2 Passive Guidance Concept
2.1 Training Trajectories
2.2 Inertial Pose Tracking
2.3 Vision-Based Passive Pose Estimation
2.4 Vehicle Velocity Estimation
3 Preliminary Results
4 Conclusion
References
Computer Vision Based Object Tracking for Multiple Robot Collaboration
1 Introduction
2 Methods for Background Subtraction and Object Detection
3 Algorithm for Automated Grasping in Case of Multiple Robot Collaboration
3.1 Algorithm for Detecting Objects and Determination of Their Grasping Positions
4 Experiment and Results
5 Conclusion
References
The AMADEE-20 Robotic Exploration Cascade: An Experience Report
1 Introduction
2 Mars Analog Research
3 AMADEE-20 Exploration Cascade
3.1 Flight Control and Operation
3.2 Mission Preparation Using Satellite Images
3.3 Aerial High Resolution Exploration
3.4 Autonomous Robot Navigation
4 Evaluation in Field Trial
5 Conclusion
References
Humanoids, Legged, and Bioinspired Robots
Garment Type Agnostic Robotic Unfolding of Garments from Random Configuration
1 Introduction
2 Method
2.1 Garment Transformation from Random to Half-Folded Configuration
2.2 Analysis of the Half-Folded Configuration
2.3 Unfolding of the Half-Folded Garment
3 Experiments
4 Conclusions
References
Phase State System for Generating Interactive Behaviors for Humanoid Robots
1 Introduction
2 Control Framework
2.1 Phase State System (PSS)
2.2 Compliant Movement Primitives (CMP)
3 Simulation Example
4 Conclusion
References
Multi-contact Stability of Multi-legged Robots Operating in Unstructured Terrains
1 Introduction
2 Proposed Methodology
2.1 Contact of Surface Areas
2.2 Triangular Surfaces and Corresponding Wrench Cone
3 Results
3.1 Simulation Results
3.2 Experimental Tests
4 Conclusions
References
SnakeTrack, A Bio-inspired, Single Track Mobile Robot with Compliant Vertebral Column for Surveillance and Inspection
1 Introduction
2 Functional Design of SnakeTrack
3 Constructive Design of the Vertebral Joints
4 Prototyping and Preliminary Experimental Tests
5 Conclusions and Future Developments
References
The Use of Robots in Aquatic Biomonitoring with Special Focus on Biohybrid Entities
1 Introduction
1.1 Robocoenosis Biohybrid Entities
2 Methods
2.1 Fields of Work
2.2 Lifeforms
3 Discussion
References
Four-Legged Walking Robot, Steering and Turning Using Phase Control
1 Introduction and Motivation
2 Robot Model, Kinematics and Realization
2.1 Walking Mechanism Geometry Design and Optimization
2.2 Quasi-static Kinematic Analysis of Motion Sequence
2.3 The Dual Motor Control Algorithm
2.4 Numerical Simulations and Experimental Verification
3 Conclusions
References
Finding Optimal Placement of the Almost Spherical Parallel Mechanism in the Recupera-Reha Lower Extremity Exoskeleton for Enhanced Workspace
1 Introduction
2 Rotative Inverse Geometric Model of the ASPM Ankle
3 Optimal Placement of the ASPM Ankle in the Leg
3.1 Parameterization Procedure
4 Simulation Result
5 Conclusion
References
Collaborative Robotics
An Investigation of the Measurement of Transient Contacts in Human-Robot Interaction
1 Introduction
2 Measuring Approaches of a Transient Contact
3 Investigation of the Different Types of Measurement
3.1 Analytical Investigation
3.2 Experimental Collision Test
4 Impact on Flexible Work Systems and Their Reconfiguration
5 Recommendation of Measuring Types Based on Our Results
6 Conclusion and Outlook
References
Development of a Human-Robot Interface for a Safe and Intuitive Telecontrol of Collaborative Robots in Industrial Applications
1 Introduction
2 System Description
2.1 Experimental Setup
2.2 Simulated Environment and UR5 Digital Twin
3 Telecontrol of the UR5 Collaborative Robot
3.1 Human-Robot Control Interface
3.2 Error Handling
4 Conclusions
References
Assessment of the Human-Robot Collaborative Polishing Task by Using EMG Sensors and 3D Pose Estimation
1 Introduction
2 Materials and Methods for Human Motion Acquisition
2.1 EMG Measurements
2.2 Execution of Robot Behavior
2.3 Visual Monitoring and Analysis of Subjects Motion
3 Results and Discussion
4 Conclusion
References
Application of Model Predictive Control in Physical Human-Machine Interaction
1 Introduction
2 Model Predictive Control Design
3 Experimental Trials and Control Logic Optimization
4 Conclusion
References
Evaluation of FMCW Radar for Potential Use in SSM
1 Introduction
2 FMCW Radar for Worker Detection and Tracking
2.1 FMCW Radar
2.2 Chirp Configuration Parameters
3 GTRACK Based Worker Tracking
4 Experimental Evaluation
5 Discussion
6 Conclusion
References
On the Methodologies to Compute Minimum Jerk Trajectories and Their Application in Collaborative Robotics
1 Introduction
2 General Problem Formulation
2.1 Invariance with Respect to Linear Dilations and Subsidiary Constraints
3 Main Methods to Find Minimum Jerk Trajectories in Collaborative Workspaces
3.1 Direct Approximation Methods
3.2 Optimal Control Approaches
4 Variational Method
5 Limits of the Min-Jerk Trajectories and Proposed Solutions
6 Conclusions
References
Development of a Virtual Reality Application for the Assessment of Human-Robot Collaboration Tasks
1 Introduction
2 Obstacle Avoidance Algorithms for HRC
3 VR Application
4 Conclusions
References
Robots Are Actor-Networks: Awareness, Bottom-Up Ethics and Transforming Responsibility
1 Introduction
2 Robots: Safety and Security, Ethics Codes and Responsibility
3 Problem Definition and Research Design: GT and ANT
4 Robots as Actor-Networks: Responsibility, Ethics, Awareness
4.1 Distributed Responsibility and (Self-)Governance: "It's Complicated and It Depends", the Liminal Space of the Programmer and Bottom-Up Ethics
4.2 Pro-active Reflection and Communication for More Awareness
5 Conclusion: Robot-Networks Radically Transforming Responsibility
References
Correction to: The Use of Robots in Aquatic Biomonitoring with Special Focus on Biohybrid Entities
Correction to: Chapter "The Use of Robots in Aquatic Biomonitoring with Special Focus on Biohybrid Entities" in: A. Müller and M. Brandstötter (Eds.): Advances in Service and Industrial Robotics, MMS 120, https://doi.org/10.1007/978-3-031-04870-8_61
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