Advances in Robot Design and Intelligent Control

Name: Advances in Robot Design and Intelligent Control | Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
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Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)

Aleksandar Rodic Theodor Borangiu(Editor)

Springer (Publisher)

Published on 26. November 2016

XVII, 649 pages

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978-3-319-49058-8 (ISBN)

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Content

Intro
Foreword
Preface
Contents
Intelligent Robot Motion Control
Kinematic Control of Redundant Robots in Changing Task Space
1 Introduction
2 Task Space Specification
3 Modelling
4 Kinematic Control
5 Case Study
6 Conclusion
References
Robot Force/Position Control Combined with ILC for Repetitive High Speed Applications
1 Introduction
2 Force/Position Control
3 Iterative Learning Control
3.1 Iterative Force Control
3.2 Anticipatory P--type Learning
3.3 Combined ILC
4 Example
4.1 Experiment
4.2 Simulation
5 Conclusion
References
On-Line Modifications of Robotic Trajectories: Learning, Coaching and Force Vs. Position Feedback
1 Introduction
2 Learning of Trajectories
3 Robot Coaching
3.1 Force Vs. Position Feedback
3.2 Modified Feedback Signal
4 Experimental Evaluation and Results
5 Discussion
References
Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach
Abstract
1 Introduction
2 System Modelling
3 Controller Design
4 D-decomposition Method
4.1 Swing up and Asymptotic Stabilization of Furuta Pendulum
4.2 Simulation Results
5 Experimental Results: Cart Pendulum System
6 Conclusion
Acknowledgment
References
Virtual Compliance Control of a Kinematically Redundant Serial Manipulator with 9 DoF
1 Introduction
2 Robot System Under Study
2.1 Design of the Robot Manipulator
2.2 Sensor System
2.3 Software Framework
3 Kinematic Model
3.1 First Substructure (Serial 3R Chain)
3.2 Second Substructure (Serial 6R Chain)
4 Virtual Compliance Control
5 Experimental Results
6 Conclusions
References
On the Vibration Control of a Flexible Metallic Beam Handled by an Industrial Robot Within an ARX-Based Synthetic Environment
Abstract
1 Introduction
2 Problem Statement: The Industrial Robot, the Beam and the Experiments
3 ARX-Based Synthetic Environment
3.1 ARX Based Modelling of the Robot-Beam System
3.2 PI - Based Vibration Control
4 Vibration Control Simulation and Experimental Results
5 Conclusions
References
Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives
Abstract
1 Introduction
2 Model of a Robot Driven by Bidirectional Antagonistic Complaint Actuators
3 Control Strategy
4 Simulation Results
5 Conclusion
Acknowledgment
References
Robot Vision and Sensory Processing
Robotic 3D Surface Laser Scanning for Feature-Based Quality Control in Holonic Manufacturing
Abstract
1 Introduction
2 Robotized Part Scanning and Measuring Primitives
2.1 Direct Surface Measurements Using the Laser Sensor
2.2 Direct Comparison of Depth Maps
3 3D Laser Scanning Integration with 2D Image Processing
4 Implementing Solution and Experimental Results
5 Conclusions
References
Design and Shape Optimization of Novel Load Cell
Abstract
1 Introduction
2 Formulation of Input Requirements
3 Design of Load Cell Deformable Part
4 Shape Optimization
5 Stiffness Model
6 Conclusions
Acknowledgment
References
3-Axis Contact Force Fingertip Sensor Based on Hall Effect Sensor
1 Introduction
2 Structure of the Sensor
3 Sensor Characterization as 3-DOF Force Sensor
4 Conclusion
References
One Approach to Detection and Extraction of On-Road Obstacles Based on Image Processing
Abstract
1 Introduction
2 Road Region Extraction
3 Segmentation Based on On-Line Learning Option of SVM
4 Extraction of Obstacles
4.1 Classification Inside the "Non-road" Region
4.2 Obstacles' Detection and Marking
5 Conclusion
References
Development and Implementation of Orthogonal Planes Images Method for Calibration of Tool Centre Point
Abstract
1 Introduction
2 Calibration Unit Design
3 Calibration Principle
4 Local Coordinate System
5 Initial Calibration of the TCP
6 Fast Calibration Procedure
7 Main Observations and Discussion
8 Conclusion
Acknowledgment
References
Novel Design of Robot Manipulators and Grippers
Design, Construction and Testing of a Gripper for Horticulture Products
Abstract
1 Introduction
2 Requirements for Horticulture Products Handling
3 Gripper Design
4 Prototype and Experimental Tests
5 Conclusions
Acknowledgements
References
A Real-Time Serial Approach for Solving the Forward Kinematic Model of Spherical Parallel Manipulators
1 Introduction
2 PROMIS Tele-Operation System Overview
3 Different Forward Kinematic Models
3.1 Classical FKM
3.2 Improved FKM
3.3 Serial Positioning of the Sensors
4 Computing Time Comparison
5 Experiments
6 Conclusion
References
Computer Simulation of Bounded Error Algorithm for Iterative Learning Control
Abstract
1 Introduction
2 Problem Formulation
3 Bounded Error Algorithm
4 Simulation Results
5 Conclusion
Acknowledgment
References
Dynamical Modeling and Swing-Up Control of a Self-balancing Cube
1 Introduction
2 Hardware Setup
3 Mathematical Modelling
3.1 Kinematics
3.2 Dynamics
4 Trajectory Planning for Swing-Up
4.1 Pre-defined R,P,Y Trajectories
4.2 Optimal Swing-Up Trajectories
5 Control
6 Experimental Results
7 Conclusion
References
A Synthesis of a Six Bar Mechanism with Nonlinear Stiffness for Prismatic Compliant Joint
Abstract
1 Introduction
2 Prismatic Compliant Joint Definition
2.1 Kinematic Model
2.2 Static Force Analysis
3 Optimal Synthesis of a Six-Bar Mechanism
3.1 Formulation of the Optimization Problem
3.2 The Objective Function and the Constraints
4 Results and Discussion
4.1 Genetic Algorithm Method
4.2 Prototype
5 Conclusion
Acknowledgments
References
About the Accuracy of Fast Moving Robotic Devices Based on Compliant Mechanisms
Abstract
1 Introduction
2 Accuracy Errors
3 Modelling Compliant Mechanisms
3.1 Mathematical Models
3.2 System Dynamics
4 Conclusion
Acknowledgment
References
Inverse Kinematics of Six - DOF Three - Limbed Parallel Manipulator
Abstract
1 Introduction
2 Inverse Kinematics
3 Conclusions
References
The Variable Position of the Load's Centre of Mass Relative to the Load's Hanging Point of the CPR System
Abstract
1 Introduction
2 Geometric Distance Between the Load's Centre of Mass and the Load's Hanging Point
3 The Experiment
4 Conclusion
Acknowledgments
References
Design, Modelling and Prototyping of a Mechanical Hand for Prosthetic Purposes
Abstract
1 Introduction
2 Design
3 Prototyping
4 Experimental Tests
5 Conclusion
References
Multibody Model to Evaluate Quality Grasping of an Underactuated Mechanical Finger
Abstract
1 Introduction
2 Multibody Model of the Finger
3 Contact Model
4 Grasping Simulation
5 Conclusion
References
Robot Applications in Manufacturing and Services
Multi-agent Solution for Automated Part Supply in Robotized Holonic Manufacturing
Abstract
1 Introduction
2 Multi-agent Control System
3 Dynamics of the Control Model
4 Multi-agent Implementation
5 Conclusions and Future Work
Acknowledgement
References
Robot Programming with Flexible Geometric Relations
Abstract
1 Introduction
2 Operational Activities
3 Technological Positions
4 Workplace Configuration
5 Programming
6 Sample Example
7 Conclusion
Acknowledgements
References
Improvement of a Robotic System for Spring End Treatment Through Plasma Cutting
Abstract
1 Introduction
2 RS Improvement
3 Imitation Modeling of RS Operation
4 Conclusions
References
Calibration of a Robotized Bending System
Abstract
1 Introduction
2 Description of the Bending System
3 Determination of Error Parameters
4 Correcting the Reference Values to the Controller
5 Experimental Procedure and Results
6 Conclusion
Acknowledgements
References
Requirements and Constraints for a Robotized Roll Hemming Solution
1 Introduction
2 Main Process Parameters
3 Preliminary Experiments
4 First Design
5 Conclusions
References
Weed Segmentation from Grayscale Tobacco Seedling Images
1 Introduction
2 Dataset and Algorithms
2.1 Dataset
2.2 Texture Descriptors
2.3 Pre-processing and Classification
3 Results and Conclusion
References
Human Energy Consumption During Harvesting of Saffron Flowers
Abstract
1 Introduction
2 The Harvesting Prototype and the Characterizing Tests
3 Human Energy Analysis
3.1 Methods and Materials
4 Conclusions
References
Possibilities of Applying Robotic Systems and Smart Sensor Networks in Integrated Agricultural Apple Production
Abstract
1 Introduction
2 Agricultural Land Monitoring Using Smart Networks
3 Apple Production
4 Assessment of the Effects of Smart Sensor Networks Application for Integrated Apple Production
5 Conclusions and Future Work
Acknowledgement
References
Autonomous Systems, Humanoid and Walking Robots
Model of the Human Arm Stiffness Exerted by Two Antagoniste Muscles
Abstract
1 Introduction
2 Methods
2.1 Arm and Musculo-Tendon System Models
2.2 Equations for the Force Balancing
2.3 Stiffness Calculation
3 Analysis
3.1 Elbow Angle Boundaries
3.2 Antagonist Muscle Activation
3.3 Arm Stiffness
4 Discussion
References
Experimental Characterization of Human Walking on Stairs Applied to Humanoid Dynamics
Abstract
1 Introduction
2 Experimental Study
3 Numerical Simulations
3.1 Dynamic Model of Mannequin Walking on Stairs
4 Results
5 Conclusions
References
Path Planning for Formation Control of Autonomous Vehicles
Abstract
1 Introduction
2 Basic Assumptions and the Two Stage Approach
2.1 The Path Planning Problem for a Formation of Autonomous Vehicles
2.2 The Geometry and the Representation of the Formation
3 First Stage: The Sub-optimal Path for the Minimum Size Formation
3.1 Safe Optimum Motion of the Minimum Formation
4 Stage 2: Determining the Smooth Path of Each Vehicle in the Deformable Formation
5 Simulations
6 Conclusion
References
Developing a Climbing Maintenance Robot for Tower and Rotor Blade Service of Wind Turbines
Abstract
1 Introduction
1.1 Kinematics of the Climbing Robot Motion
1.2 System Dynamics of SMART Demonstrator
2 Model Based Kinematic and Dynamic Simulation
3 Experimental Analyses of SMART Demonstrator
3.1 Setting Up a 3D Vision System for Motion Tracking
3.2 Force Sensors
4 Results
5 Conclusion and Future Aspects
References
Optimized Leg Proportion to Enhance Rough Terrain Mobility of a Biomimetic Walking Robot
1 Introduction
1.1 Biology
1.2 Optimization of Robot Arms
2 Optimization Methods
2.1 Volume Optimization
2.2 Area Optimization
2.3 Circular Radius of Movement
2.4 Spherical Radius of Movement
2.5 Angular Variation at Leg Endpoint
2.6 Performance Level Optimization
3 Conclusion
References
Orientation and Depth Control in Rippling Water for an Autonomous Underwater Robot
Abstract
1 Introduction
2 Control Problems
2.1 PID Control
2.2 Adaptive Process Control
2.3 Underwater Position Keeping
3 AUV System Components
3.1 Software
3.2 Hardware
4 Structure of the Solution
4.1 Orientation Keeping
4.2 Depth Keeping
5 Experiments
5.1 Simulator
5.2 Test Scenario 1: Pool (Freshwater)
5.3 Test Scenario 2: Lake (Freshwater)
5.4 Test Scenario 3: Seawater
6 Conclusions
Acknowledgement
References
Vision-Guided Autonomous Forklift
1 Introduction
2 Software Modules
2.1 Control Modules
2.2 ROS Packages
3 Vehicle State Machine (VSM)
3.1 Preprocessing
3.2 Command Processing
3.3 Postprocessing
4 Conclusions
References
Application-Driven Cloud-Based Control of Smart Multi-robot Store Scenario
Abstract
1 Introduction
2 State-of-the-Art
3 Modelling of the Megastore
4 Simulation of Smart Store Scenario
5 Conclusion and Future Work
Acknowledgement
References
Human-Robot Interaction and Collaboration
Realisation of an Experimental Cooperative Workplace for Assembly Tasks
Abstract
1 Introduction
2 Safety of Cooperative Workplace
3 Experiments and Tests of Cooperative Workplace
4 Conclusion
Acknowledgements
References
Multi-level Human-Machine-Interaction Monitoring and System Reconfiguration
1 Introduction
2 Interaction and Control System
3 Monitoring of Human Gaze States
3.1 Motion Estimation
3.2 Goal Estimation
4 Gaze-Based System Reconfiguration
5 Conclusion
References
Gaze-Based Human-SmartHome-Interaction by Augmented Reality Controls
1 Introduction
2 Implementation Details
3 Referencing the OST-HMD in the Scene Camera
4 Experiments and Results
5 Conclusion
References
Toward an Active Protection for Robot Arms
Abstract
1 Introduction
2 The Analysed Problem
3 Existing Protections: Characteristics and Drawbacks
4 Design of an Active Protection
5 Conclusions
References
Recognizing Hand Gestures Using Local Features: A Comparison Study
1 Introduction
2 Hand Gesture Recognition Using Interest Points
2.1 SIFT Features
2.2 SURF Features
2.3 Dense Features
2.4 FAST Features
2.5 MSER Features
3 Classification
4 Experimentation and Evaluation
5 Conclusion
References
Cognitive Robots and Emotional Intelligence
Effect of Sequence Order on Autonomous Robotic Database Expansion
1 Introduction
2 Compliant Movement Primitives
3 Database Expansion
4 Effect of Sequence Order on Database Expansion
5 Conclusion
References
Action Unit Based Facial Expression Recognition Using Deep Learning
1 Introduction
2 Facial Expression Recognition
2.1 Action Units Analysis
2.2 Arousal-Valence Estimation
3 Experiments
3.1 Datasets
3.2 Parameters Optimization for CNNs
3.3 Evaluation Results
4 Conclusion
References
Fast Setup and Adaptation of Industrial Assembly Tasks with Force-Based Exception Strategies
1 Introduction
2 Problem Formulation
3 Method Description
3.1 Teaching the Example Movements
3.2 Fast Setup Using Robot Skills
3.3 Adaptation of the Desired Movement
3.4 Force Based Exception Strategies
4 Experimental Evaluation
5 Conclusion
References
Movement Recognition and Cooperative Task Synthesis Through Hierarchical Database Search
1 Introduction
2 Hierarchical Database
3 Movement Recognition
4 Cooperative Task Synthesis
5 Evaluation
6 Conclusion
References
Embodiment of Human Personality with EI-Robots by Mapping Behaviour Traits from Live-Model
Abstract
1 Introduction
2 State of the Art
3 Modelling of Cognitive Affective Behaviour
4 Measurement of Affective Actions
4.1 Measurement of Body Gestures by Kinect Sensor
4.2 Measurement of Body Gestures by Xsens Capture-Motion System
4.3 Face Mime Data Acquisition
5 Conclusions and Future Work
Acknowledgement
References
Signal Processing Robotics Using Signals Generated by a Human Head: From Pioneering Works to EEG-Based Emulation of Digital Circuits
Abstract
1 Introduction
2 Robotics Collaboration in 1980's Yugoslavia
3 1986: Speech Signal Processing for Robot Control
3.1 Background Information: Human Speech Signals
3.2 System Setup and Hardware Used
3.3 Speech Signal Segmentation
3.4 Word Spectrogram, Feature Vector, and Robot Command Recognition
3.5 Experiments with Speech Control of a Robot
4 1988: Step in Robot Evolution: Robots Gain Capability of Recognizing Human EEG Messages
4.1 Background Information: Human EEG Signals
4.2 Methods: System Setup and Hardware Used
4.3 Pattern Classification: The Calibration (Learning) Method
4.4 Pattern Classification: Probability Distributions and Decision Threshold
4.5 Demonstration Experiments
5 1989: Step in Robot Evolution: Robots Gain Capability of Recognizing Human EOG Signals
6 EEG Emulation of Digital Circuits for Robot Control
6.1 EEG Emulated Switch and Control of a Robot
6.2 EEG Emulated Flip-Flop
6.3 EEG Emulated Demultiplexer
6.4 EEG Emulated Modem
7 Discussion: Signal Processing Robotics and Robot Evolution
Acknowledgement
References
Medical, Human-Assistive Robots and Prosthetic Design
Analysis of the Static Stability for an Electric Stair-Climbing Wheelchair
Abstract
1 Introduction
2 Evolution of Wheelchair.q Project
3 Methodology
4 Results
5 Conclusion
References
Motion Control Algorithm for Exoskeleton Push Recovery in the Frontal Plane
Abstract
1 Introduction
2 Mathematical Model
3 Two Stage Push Recovery Control Strategy
4 Control System Design
5 Numerical Simulation
6 Conclusions
Acknowledgements
References
Mechanical Design of a Prosthetic Human Arm and its Dynamic Simulation
Abstract
1 Introduction
2 The Human Arm and its Characteristics
3 Conceptual Design and CAD Solution
4 Motion Simulation and Results
5 Conclusions
Acknowledgments
References
Effects of Passive Ankle Exoskeleton on Human Energy Expenditure: Pilot Evaluation
Abstract
1 Introduction
2 Exoskeleton Design and Mechanics
3 Metabolic Cost Study Design
4 Results
5 Conclusion
References
Prospects of Robotics Development for Restorative Medicine
Abstract
1 Introduction
2 Robots in Preventive Medicine
3 Methods of Robotics for Restorative Medicine
4 Features of Robotic Systems for Restorative Medicine as Man - Machine Systems
5 Development of Integrated Research and Industrial Structures for the Implementation and Production of Massage Robotics
6 Conclusion
Acknowledgements
References
A Method for Adjusting Moment Input on an Exoskeleton Robot with Fixed Linear Actuators
Abstract
1 Introduction
2 Previous Studies
3 Materials and Methods
3.1 Setup of Mechanism
3.2 Test Process and Calculations
4 Results
5 Conclusion and Future Studies
Acknowledgments
References
Planning of Needle Insertion for Robotic-Assisted Prostate Biopsy in Augmented Reality Using RGB-D Camera
Abstract
1 Introduction
2 Materials and Methods
2.1 The Hardware and Software Architecture of the AR Robotic Biopsy System
3 Test Case
4 Conclusions
Acknowledgment
References
Development of a Conceptual Model for Wrist/Forearm Rehabilitation Robot with Two Degrees of Freedom
Abstract
1 Introduction
2 Conceptual Design of CUWRIST
3 The Kinematics of CUWRIST
4 The Actuators and Control Algorithm of CUWRIST
5 Results
6 Discussion and Conclusion
Acknowledgement
References
Influence of an Assistive Hip Orthosis on Gait
1 Introduction
2 Material and Method
2.1 Method
2.2 HiBSO
3 Control Modes
3.1 Transparent Mode
3.2 Assistance Mode
4 Results
4.1 Kinematics
4.2 Heart Rate
5 Discussion
6 Conclusion
References
Robots in Construction and Arts
Why Does Architecture Need to Move? The Role of Integrated Technical Systems in Architecture
Abstract
1 Introduction
2 Mechatronics in Architecture
3 Understanding Potentials of Adaptive Structures
3.1 Adaptive Lighting System
3.2 Transformable Shading Structure
3.3 Touch Floor Tube
4 Conclusion
References
Design of Modular Re-configurable Robotic System for Construction and Digital Fabrication
Abstract
1 Introduction
2 State-of-the-Art
3 The Qualities of Good Construction Practices
4 Robot Cell for Building Construction
5 Analysis of Proposed Concept
6 Conclusions and Future Work
Acknowledgement
References
Model-Based Development of Robotic Systems and Services in Construction Robotics
Abstract
1 Introduction
1.1 The eRobotics Methodology and Virtual Testbeds
1.2 Large-Scale City and Building Models
1.3 Environment Model Access
2 Virtual Testbeds for Construction Robotics
2.1 Central 3D Databases as Mental Models
2.2 Model-Based Developments in Construction Robotics
3 Conclusions
References
Fabrication of Digital Anamorphic Sculptures with Industrial Robot
1 Introduction
2 Methodology
3 Position and Orientation of the Sticks
4 Simulation Verification and Fabrication
5 Conclusion
References
At the Crossroads of Architecture and Robotics: Control and Structural Concepts for a Reconfigurable Building
1 Introduction
2 The Reconfigurable Structure and the Control Concept
3 Example of Control Sequences
4 Conclusions
References
On-Site Robotic Construction Assistance for Assembly Using A-Priori Knowledge and Human-Robot Collaboration
Abstract
1 Robots in Construction
2 From Design to Production
3 Design as A-Priori Knowledge for Assembly Planning
4 Implementing Adaptive Parametric Assembly Operations
5 Haptic Robot Programming
6 Synopsis and Future Work
Acknowledgments
References
Artistic Design of the Customized Robot with Environmental, Social and Cultural Impacts to Human Society
Abstract
1 Introduction
2 State-of-the-Art
3 General Design Presentation
4 Technological Solution as an Incentive for Upgrading Artistic Expression and Culture
5 Technological Solution as an Incentive for Upgrading Social Frameworks
6 Technological Solution as an Incentive for Mind Upgrading for the Purpose of Preserving the Environment
7 Conclusions and Future Work
Acknowledgment
References
Evolution, Education, Legal and Social Issues of Robotics
Legal Issues for Mobile Servant Robots
Abstract
1 Introduction
2 Mobile Servant Robots: The Serbian Case Study
3 Legal Aspects Concerning Mobile Servant Robots
4 Conclusions
References
Robot and Robotics: The Origin and Beyond
1 Introduction
2 R.U.R. and the Origins of ``Robot''
2.1 Summary of R.U.R
2.2 R.U.R. and Today's Robots
3 Runaround and the Origins of ``Robotics''
3.1 Summary of Runaround
3.2 Runaround and Today's Robotics
4 Concluding Remarks
References
Development of Virtual Laboratory for Mechatronic Systems
Abstract
1 Introduction
2 General Foundations
3 Virtual Robotics Module
4 Virtual Hydraulic Systems Module
5 Conclusion and Final Remarks
References
Serbia Robotics Hall of Fame: The Impact of the Past
Abstract
1 Introduction
2 Methodology Remarks
2.1 Number of Citations
2.2 Country of Origin
2.3 Importance to the Robotics Community
3 The List of Most Influencing Works
4 Comparison to Neighbouring Countries
5 Instead of Conclusion
Acknowledgments
References
Building Remote Lab for Robot SLAM Algorithm Testing
Abstract
1 Introduction
2 Pioneer P3-DX Robot
3 Communication Between Pioneer P3-DX and the Remote Lab Server
3.1 Lantronix 2100e Wireless Device Server
3.2 ESP8266
4 Remote Lab Server
5 Conclusion
References
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Advances in Robot Design and Intelligent Control

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