ROMANSY 22 - Robot Design, Dynamics and Control

Name: ROMANSY 22 - Robot Design, Dynamics and Control | Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France
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Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France

Vigen Arakelian Philippe Wenger(Editor)

Springer (Publisher)

1st Edition

Published on 19. May 2018

XIV, 533 pages

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Content

Intro
Preface
Contents
Challenges for Mechanism Design in Robotics
Abstract
1 Introduction
2 Innovation
3 Mechanism Design for Robots
4 Examples
5 IFToMM Role in MMS Innovation
6 Conclusions
References
The Age of Human-Robot Collaboration
Abstract
Decentralized Adaptive Partitioned Approximation Control of Robotic Manipulators
Abstract
1 Introduction
2 Methods
2.1 Dynamics of Contact-Free Motion Robots
2.2 Decomposition Technique
2.3 Controller Design
3 Simulation Results and Discussions
4 Conclusions
References
An Experimental Characterization of a Parallel Mechanism for Robotic Legs
Abstract
1 Introduction
2 Mechanism Design
3 Experimental Setup
4 Results
5 Conclusions
Acknowledgements
References
Trajectory Tracking Control of a Very Flexible Robot Using a Feedback Linearization Controller and a Nonlinear Observer
1 Introduction
2 Flexible Lambda Robot Modelling
3 Nonlinear Controller
3.1 Feedforward Controller
3.2 Nonlinear Observer
3.3 Feedback Linearization Controller
4 Simulation and Experimental Results
5 Conclusion
References
Elastostatics of a Full-Mobility PKM with Flexible Links
1 Introduction
2 Modeling
3 Elastostatics
3.1 Cartesian Stiffness Matrix
3.2 Numerical Results
4 Conclusions
References
Dynamic Model of a Bio-Inspired Robot for Piping Inspection
1 Introduction
2 Locomotion and Architecture of the Robot
3 Dynamic Modeling
3.1 Inverse Dynamics Using the Recursive Newton-Euler Algorithm
3.2 Results of Simulation During a Locomotion Cycle
4 Conclusions
References
Robotic Eyes with 7 DOFs: Structural Design and Motion Simulation
Abstract
1 Introduction
1.1 Differences Between Male and Female Eye
1.2 Structure and Kinematics of the Human Eye
2 State of the Art
3 Structural Design
4 Motion Simulation and Results
5 Conclusions
Acknowledgements
References
Minimizing Input Torques of a High-Speed Five-Bar Mechanism by Using Variable Stiffness Springs
1 Introduction
2 Physical Background
2.1 Dynamic Model of Five-Bar Mechanism with Variable Stiffness Springs in Parallel Configuration with the Actuated Links
3 Control of Pick-and-Place Oscillations
4 Simulation Results
5 Conclusions and Future Works
References
Topological Analysis of Global Inverse Kinematic Solutions for Redundant Manipulators
1 Introduction
2 Topological Analysis of Inverse Kinematic Mappings
2.1 C-homotopy
2.2 C-path-homotopy
3 Topological Analysis of a 4R Planar Manipulator
4 Conclusions
References
A Topological Approach to Globally-Optimal Redundancy Resolution with Dynamic Programming
1 Introduction
2 Problem Formulation
3 Multi-grid Search Algorithm
4 Example: 4-DOF Planar Manipulator
5 Conclusions
References
Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human
Abstract
1 Introduction
2 Ankle/Foot Mechanisms Permitting Active/Passive Actions Equipped with Elastic Elements
2.1 Required Specifications of Ankle/Foot Mechanisms
2.2 Design of Ankle/Foot Mechanism
3 Verification of Hopping with Following Motion to the Ground
4 Conclusions and Future Work
References
Experiences and Design of a Cable-Driven Assisting Device for Arm Motion
Abstract
1 Introduction
2 Assistive Devices for Arm Motions
3 Design Requirements
4 Design Refinements
5 Validation of Design Refinements
6 Conclusion
Acknowledgements
References
The Design of Legged Mobile Welding Robot
Abstract
1 Introduction
2 Requirements of the Legged Mobile Welding Robot
3 Structure and Inverse Kinematic Model
3.1 Legged Mobile Platform
3.2 Welding Manipulator
4 Workspace Analysis
4.1 Workspace of the Legged Mobile Platform
4.2 Workspace of the Welding Manipulator
5 Motion Simulation
6 Conclusion
References
Two Methods of EMG Analysis for the Purpose of Exoskeletons and Robotic Rehabilitation Devices
Abstract
1 Introduction
2 State of the Art
3 Research Aim
4 Data Gathering
5 General Classification: Similarities and Differences in the Gaits
6 Detailed Classification: Gaits Comparison, Similarities Within One Gait
7 Conclusions
References
Type Synthesis of a Legged Mobile Lander Based on a Given Truss
Abstract
1 Introduction
2 Basic Concept and Procedure
2.1 Topology Design of Space Truss
2.2 Design Mechanism Based on Truss
2.3 Type Evaluation of Parallel Mechanism
3 Design Legged Mobile Lander Based on the Proposed Method
3.1 Design Truss for the Upper Part of Leg
3.2 Design the Leg Based on the Truss
4 Conclusion
Acknowledgments
References
Vibration-Driven Capsubot with an Opposing Spring: An Experimental Study
1 Description of the System
2 Mathematical Model
3 Theoretical Analysis and Computer Simulation
4 Experimental Study
4.1 Experimental Setup
4.2 Experimental Analysis and Results
5 Conclusion
References
Kinematic Model of Harmonic Drive in Robot Joints with Input Eccentricity Error
Abstract
1 Introduction
2 Kinematic Model of Harmonic Drive with Input Eccentricity Error
2.1 Coordinate System Definition
2.2 Kinematic Model of HD with Input Eccentricity Error
3 The Method of Engagement Analysis
4 Example Analysis
4.1 Example Illustration
4.2 Kinematic Analysis of a Point on Neutral Layer of Flexspline
4.3 Engagement Analysis
5 Conclusion
Acknowledgement
References
Development of a Novel Rotary Hexapod with Single Drive
Abstract
1 Introduction
2 Novel Kinematic Design
3 Structural Analysis
4 Conclusions
References
Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion
1 Introduction
2 Wrist Mechanism Architecture
3 Equation of Motion of Torsional Vibrations
4 Dynamic Stability Analysis
5 Numerical Study on Torsional Stability
6 Conclusion
References
Parallelisms Between Planar and Spatial Tricept-Like Parallel Robots
1 Introduction
2 Forward Kinematics
3 Singularities
4 Analysis of Special Singularities
5 Conclusion
References
Linkage Design for Gravity Balancing by Means of Non-zero Length Springs
Abstract
1 Introduction
2 Gravity Balancing Conditions
3 Synthesis of the Four-Bar Linkage for Generation of Optimal Elastic Forces of the Spring
4 Illustrative Example
5 Conclusions
References
Dynamic Modeling of Functionally Extended Delta-Like Parallel Robots with Virtual Tree Structures
Abstract
1 Introduction
2 Preliminary Considerations
3 Dynamics of the Fully Parallel Delta Robots
3.1 Dynamics of the Open Serial Chains
3.2 Dynamics of the Closed Loop System
3.3 Verification and Validation
4 Dynamics of Functionally Extended Delta Robots
5 Conclusions
Acknowledgments
References
Geometric Based Approach for Workspace Analysis of Translational Parallel Robots
Abstract
1 Introduction
2 Classification of TPMs
3 Kinematic Model of Three TPMs
3.1 Tri-pyramid Robot
3.2 Delta Robot
3.3 3-UPU Robot
4 Workspace Evaluation
5 Conclusion
Acknowledgements
References
Wind Car Driven by the Magnus Force
Abstract
1 Introduction
2 Description of the System
3 Equations of Motion
4 Speed of the Car at the Steady Motion
5 Discussion
6 Conclusions
References
On the Use of Inner Position Loop in Co-manipulation Task
1 Introduction
2 System Definition
2.1 Mechanical Part
2.2 Control Design
3 Calculation
3.1 Inner Velocity Loop
3.2 Outer Force Loop
3.3 Intermediate Position Loop and Outer Force Loop
4 Experiments and Discussion
4.1 Numerical Application
4.2 Experimental Validation
5 Conclusion
References
Workspace Analysis of a 4 Cable-Driven Spatial Parallel Robot
Abstract
1 Introduction
2 Kinematic and Geometric Modelling
3 Workspace Analysis
4 Results and Discussion
5 Conclusion
References
Improved Usability of a Low-Cost 5-DOF Haptic Device for Robotic Teleoperation
Abstract
1 Introduction
2 Mechanical Design of the 5-DOF Haptic Device
3 Kinematics and Force/Torque Display
4 Workspace Scaling and Virtual Constraints
5 Control Architecture for Robotic Teleoperation
6 Teleoperation Task and Experiments
7 Conclusion and Future Work
References
Linear Adaptive Computed Torque Control for Singularity Crossing of Parallel Robots
1 Introduction
2 Previous Work on Singularity Crossing
2.1 Dynamical Non-degeneracy Rule
2.2 Control Scheme for Singularity Crossing
3 Linear Synthesis of Adaptive Control Law
3.1 Modeling Error
3.2 Adaptation Law Based on State Feedback
4 Case Study on DexTAR Robot
4.1 DexTAR Dynamic Modeling
4.2 Simulation Results
4.3 Experimental Results
5 Conclusion
References
Motion Coordination of a Mobile Manipulator Within Control Framework: Application to Phenotyping
1 Introduction
2 Modeling and Control
2.1 Robotic Arm Modeling
2.2 Mobile Platform Modeling
3 Motion Coordination
4 Experimental Results
5 Conclusion
References
Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel Robots
1 Introduction
2 Feed-Forward Model-Based Controller
2.1 Rigid Model
2.2 Elasto-static Model
2.3 Elasto-dynamic Model
3 Control of a Spatial CDPR with a Point-Mass End-Effector
3.1 Trajectory Generation
3.2 Controller Tuning
3.3 End-Effector Position Errors
4 Conclusions and Future Work
References
Path Planning of Sidewalks & Street Crossings in Pedestrian Environments Using 2D Map Visual Inference
Abstract
1 Introduction
2 Related Work
3 Framework Description
3.1 Map Retrieval and Analysis
3.2 Shortest Road Path Computation
3.3 City Block Sequencing Along Shortest Road Path
3.4 Shortest Path Using City Blocks as Graph Nodes
3.5 Intersection/Street Crossings of Interest Estimation
4 Results
4.1 Path Plan v.s. Real-Life Situations
4.2 Slanted Street Crossings
4.3 Framework Output After Application of Proposed Solutions
4.4 Path Plan Manipulation Strategy
5 Conclusion
References
Design and Control of a Human-Powered Robotic Personal Mobility Vehicle Prototype
1 Introduction
2 Design and Principle of Operation
3 Controller
3.1 Joystick-Based Control
3.2 Inverted Pendulum Based Attitude Control
4 Experiments
4.1 Travelling Experiment
4.2 Attitude Control Experiment
5 Conclusions and Future Work
References
Robotic Friction Stir Welding Path Planning with Deflection Compensation Using B-Splines
1 Introduction
2 Path Planning Methodology
3 Experimental Validation
3.1 Experimental Setup
3.2 Experiments, Results and Discussions
4 Conclusion and Future Work
References
Application of Adam to Iterative Learning for an In-Hand Manipulation Task
1 Introduction
2 Iterative Learning with Stochastic Gradient Method
2.1 Manipulation Strategy
2.2 Control Objectives
2.3 Updating Rule
3 Experiment
3.1 Desired Trajectory
3.2 Experimental Condition
3.3 Experimental Result
4 Conclusion
References
Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain
Abstract
1 Introduction
2 Related Works
3 Design of Body
4 Experiments
5 Conclusions
Acknowledgment
References
Cable-Driven Parallel Robot Simulation Using Gazebo and ROS
1 Introduction
2 CDPR Modeling
2.1 Kinematics of Cable Robots
2.2 Inverse and Differential Kinematics
2.3 CDPR Dynamics
3 CDPR in Gazebo Simulator
3.1 General Modeling
3.2 SDF File Generation
3.3 Simulator I/O and Control
4 Simulation Demonstration
4.1 Trajectory Tracking
4.2 CAROCA Robot Carrying 1 Kg and 15 Kg Mass to Perform a Desired 5th Order Polynomial Trajectory
4.3 CAROCA Robot with 15 Kg Mass Performing an S-Curve Trajectory
4.4 Conclusion and Future Work
References
The Design of Multi-purpose Portable Movable Orthosis
Abstract
1 Introduction
2 Multi-purpose Portable Movable Orthosis
3 Calculation of the Acting Moments at Walking and Sitting
3.1 The System Exact Balancing at Walking
3.2 The System Partial Balancing at Sitting
3.3 Numerical Example
4 Conclusions
References
Preliminary Survey of Backdrivable Linear Actuators for Humanoid Robots
1 Introduction
2 Related Works
3 Direct Drive Linear Actuators
4 Methods
5 Numerical Optimization
6 Experimental Setup
7 Results
8 Conclusion and Perspectives
References
A Falling Forwards Protection Strategy for Humanoid Robots
1 Introduction
2 Analysis on Landing Positions
3 The Falling Forwards Protection Strategy
3.1 Overview of Protection Strategy
3.2 Dynamic Models in Different Falling Phase
3.3 Motion Generation Based on the Parametric Optimal Strategy
4 Simulations and Results
5 Conclusions
References
Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot
1 Introduction
2 Design of Robot
3 Foot Trajectory Implementation Method
4 Experiment
5 Conclusion
References
Design of a Wooden Five-Bar Mechanism
1 Introduction
2 Design Process
2.1 Link Length Optimization
2.2 Link Topology Optimization
3 Conclusion
References
Thermomechanical Actuator for Micro-robotic Systems: A Model and Parameter Estimation
1 Introduction
2 Description of the Actuator
3 Mechanical Model of the Actuator
4 Experiment
4.1 Objective
4.2 Setup
4.3 Estimation of the Torsional Stiffness
5 Conclusion
References
Stiffness Analysis of Delta Parallel Robots Combining the Virtual Joint Method with an FEA Stiffness Model
1 Introduction
2 Proximal Link Models and Their Comparison
2.1 Analytical Model of the Proximal Link
2.2 FEA Model of the Proximal Link
2.3 Proximal Link Model Comparison
3 Analysis and Results
3.1 Model Validation
3.2 Stiffness Contribution Analysis
4 Conclusion
References
Advancement of MSA-Technique for Stiffness Modeling of Serial and Parallel Robotic Manipulators
Abstract
1 Introduction
2 MSA Models of Manipulator Links
3 MSA Models of Manipulator's Joints
4 Including of Boundary Conditions and Loadings
5 Aggregation of MSA Model Components
6 Conclusion
Acknowledgments
References
Improving Surface Roughness in Robotic Grinding Process
Abstract
1 Introduction
2 Robotic Grinding Inaccuracy Analysis
3 Chosen Damping Method: Active Damping
4 Discussion About Werner Model
5 Simulation Results
6 Conclusion
Acknowledgement
References
Study of the Walking Efficiency of a Human with a Cane
1 Introduction
2 Dynamic Model of the Human with and Without Walking Canes
3 The Reference Periodic Walking Gait
4 Study of the Optimal Distribution of the Torques for the Biped with a Walking Cane
5 Numerical Results and Discussion
6 Conclusion and Perspectives
References
Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs
1 Introduction
2 Dynamic Model of AUV and Propulsion System
2.1 AUV Kinematic and Dynamic Models
2.2 Fixed Propulsion System Model
3 Model-Based Anticipation
4 Synthesis of the Propulsion System
4.1 Single Thrusters and Basic Configurations
4.2 Thrusters Configuration Design
4.3 Design Examples
5 Simulation and Results
6 Conclusion
References
Musical Articulation System on Humanoid Saxophonist Robot
1 Introduction
2 Materials and Methods
2.1 The Anthropomorphic Saxophonist Robot WAS-5
2.2 Musical Articulation Techniques and System Specifications
2.3 System Design
3 Experiment and Results
3.1 Experimental Protocol
3.2 Results and Discussion
4 Conclusions and Future Works
References
Upper and Lower Limbs Rehabilitation: DARTAGNAN, An Alternative Solution to Exoskeletal Robots
Abstract
1 Introduction
2 The Robotic Structure
3 Kinematic Models and Limbs Parameters Estimation
4 Conclusion
References
Evaluation of Grasp Stiffness in Underactuated Compliant Hands Exploiting Environment Constraints
1 Introduction
2 Modeling Hand/Object/Environment Interaction
3 Numerical Simulation
4 Conclusion
References
A Workspace Scaling Method for Motion Synchronization in SE(3)
1 Introduction
2 The Workspace Scaling Method
2.1 Motivation
2.2 Nomenclature
2.3 Translation Domain
2.4 Rotation Domain
2.5 Displacement Domain
3 A Unified Formulation
4 Conclusions
References
On Energetically Effective Modes of Walking Robots Movement
Abstract
1 Introduction
2 Statement of the Problem
3 The Solution of the Problem
4 Conclusion
Acknowledgements
References
Complementary Domain Assessment of Human Lower Limb Joint Angular Kinematics on Modified Gait
Abstract
1 Introduction
2 Materials and Methods
3 Results
4 Discussion and Conclusions
References
Path Tracking Control for a Double Steering Off-Road Mobile Robot
1 Introduction
2 Dynamic Model
3 Path Tracking Controller and the Observer
4 Simulation and Experimental Results
5 Conclusion and Outlook
References
Design of a Human-Centered Robot Framework for End-User Programming and Applications
1 Introduction
2 Related Work
3 The Design Principles of Node Primitives
4 The NEP Application Programming Interface
5 An Example from an End-User's Perspective
6 Conclusions and Future Work
References
Design and Optimization of a Multi-drone Robot for Grasping and Manipulation of Large Size Objects
1 Introduction
2 Presentation of the Robot Architecture
3 Optimization of the Manipulability
4 Form-Closure Optimization
4.1 Form-Closure Analysis
4.2 Optimization Method
5 Conclusion and Future Work
References
Impact of a Knee Orthosis over Walking
1 Introduction
2 Modelisation of the Biped Without Assistive Device
2.1 Anthropomorphic Parameters of the Biped
2.2 Dynamic Model
2.3 Geometric and Kinematic Conditions
3 Optimal Trajectories of the Planed Biped
4 Influence of the Orthosis over the Joint Torques
5 Conclusion
References
A Survey of Dual-Arm Robotic Issues on Assembly Tasks
1 Introduction
2 Dual-Arm Manipulation
3 Taxonomy and Representation in Assembly Task
3.1 Taxonomy
3.2 Representation
4 Robotic Assembly Tasks Planning
4.1 Sensory Integration in Assembly Task
4.2 Compliance in Assembly Task
5 Conclusion
References
Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism
1 Introduction
2 Mechanism Description
3 Kinematic Analysis
4 Dynamic Analysis
5 Workspace
6 Control
7 Conclusions
References
Modeling of Static Friction in Closed-Loop Kinematic Chains with Multiple Degrees of Freedom-A Study ...
Abstract
1 Introduction
2 Static Friction Modeled by Constraint Addition
3 Frictional Locking in Multi-DOF Mechanisms
4 Static Friction Modeled Using Approximate Coulomb Law
5 Conclusions
Acknowledgements
References
Generalization of the Virtual Redundant Axis Method to Multiple Serial-Robot Singularities
1 Introduction
2 Weighted Damped Least Squares (WDLS) Method
3 Floating Virtual Redundant Axes (FVRA) Method
4 Experimental Results
5 Conclusions
References
A New Approach to Design Glove-Like Wearable Hand Exoskeletons for Rehabilitation
Abstract
1 Introduction
2 Design of a Glove-Like Index Exoskeleton
2.1 Position Kinematic Analysis
2.2 Static Analysis
3 Design of a Glove-Like Hand Exoskeleton
4 Conclusions
References
Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities
1 Introduction
2 Problem Formulation
2.1 Description
2.2 Collocation Formulation
2.3 Parameter Sensitivities
3 Active Set Changes and Update
3.1 Update Strategy
4 Example
4.1 Rendezvous Task
4.2 Implementation
4.3 Results
5 Conclusion
References
Design and Experimentation of a 3D Ankle Joint Goniometer
1 Introduction
2 Design of the Ankle Joint Electro-Goniometer
2.1 Mechanical Design
2.2 Conditioning Index of the Mechanism
3 Measurement Method
4 Results and Discussion
5 Conclusions
References
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ROMANSY 22 - Robot Design, Dynamics and Control

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