ROMANSY 23 - Robot Design, Dynamics and Control

Name: ROMANSY 23 - Robot Design, Dynamics and Control | Proceedings of the 23rd CISM IFToMM Symposium
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Proceedings of the 23rd CISM IFToMM Symposium

Gentiane Venture Jorge Solis Yukio Takeda Atsushi Konno(Editor)

Springer (Publisher)

1st Edition

Published on 15. September 2020

XIII, 578 pages

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978-3-030-58380-4 (ISBN)

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Content

Intro
Preface
Contents
Active Visualization of Non-destructive Inspection for Metal Using Terahertz Camera and Light Source
1 Introduction
2 Non-destruction Detection
2.1 Terahertz Camera and Light Source
2.2 Detectable Size of Terahertz Image at 1 m
2.3 Reflective Image of Square and Triangular Metallic Pieces
3 Conclusions
References
Model-Based Dynamic Human Tracking and Reconstruction During Dynamic SLAM
1 Introduction
2 Related Works
3 System Overview and Method
3.1 Dynamic Human Body Extraction and Static Background Segmentation
3.2 Dynamic Human Motion Tracking and Reconstruction
4 Experimental Results and Discussions
5 Conclusions
References
Development of Robust Ridge Detection Method and Control System for Autonomous Navigation of Mobile Robot in Agricultural Farm
1 Introduction
2 Background
3 System Architecture
4 Method
4.1 Ridge Center Estimator
4.2 Robot Controller
4.3 Wheel Controller
5 Modeling
5.1 Robot
5.2 Coordinate System
5.3 Modeling
6 Traveling Experiment in Farm Field
6.1 Experiment Contents
6.2 Results
7 Summary
References
Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform
1 Introduction
2 Dynamic Model for One-Leg Jumping Platform Based on VMC
3 Finite State Machine for Continuous Jumping
4 Simulations
5 Conclusion
References
Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion
1 Introduction
2 Consideration of the Proposed Hydraulic Circuit
3 Evaluation of the Proposed Hydraulic Circuit
4 Conclusion
References
Maximal Output Admissible Set of Foot Position Control in Humanoid Walking
1 Introduction
2 Control of COG Based on LIP Model and Its MOA Set
2.1 LIP Model and State Feedback of COG
2.2 System Constraint and Support Polygon Approximation
2.3 MOA Set
3 Integration of COG Control and Foot Landing Position
3.1 Foot Position Control
3.2 Control in Support Coordinate
3.3 Simulation of Foot Position Control
4 MOA Set Considering Foot Position Control
5 Conclusion
References
Control System Design for Human Assisting Robot
1 Introduction
2 State of the Art
3 Objective
4 Human-Robot Interface
5 General Architecture of Control System
6 Detailed Architecture
6.1 Division of System Tasks
6.2 Selecting the Most Efficient Solution
7 Conclusions
References
Development of a Switchable Wearable Robot for Rehabilitation After Surgery of Knee
1 Introduction
2 Previous Developed Robot
2.1 Shape of the Previous Robot
2.2 Roll-Back Motion
3 New Switchable Robot
3.1 Concept of the Robot
3.2 Bilateral Roll-Back Gear
3.3 Non Directional Brace
4 Evaluation of the Switchable Robot
4.1 Sensory Evaluation
4.2 Myoelectricity
4.3 Movement of the Brace
5 Conclusion
References
Design and Testing of BIT Flying Robot
1 Introduction
2 Design Issues and Requirements
3 The BIT Flying Robot
4 Performance Characteristics
5 Prototype and Tests
6 Conclusions
References
Surgical Skill Analysis Based on the Way of Grasping Organs with Forceps in Dissection Procedure of Laparoscopic Surgery
1 Introduction
2 Measurement Experiments
2.1 Experimental Environment Setup
2.2 Subjects and Task
2.3 Experimental Results
3 Skill Analysis
3.1 Data and Analysis Indices
3.2 Results of Analysis
4 Conclusion
References
Mechanism and Control of Powered Prosthesis with Bi-articular Muscle-Type Hydraulic Bilateral Servo Actuator
1 Introduction
2 Basic Mechanisms of Powered Prosthesis
3 Control of the Shoulder and Elbow Joints by the Bi-articular Muscle-Type HBSA
4 Disturbance Force Detection with Pressure Sensors Mounted on a Bi-articular Muscle-Type Actuator for Safety Control
5 Conclusions
References
Development of a Remote-Controlled Drone System by Using Only Eye Movements for Bedridden Patients
1 Introduction
2 System
2.1 Overview
2.2 Control Method
3 Experiment
3.1 Subjects
3.2 Experimental Procedure
3.3 Flight Course
3.4 Evaluation Method
3.5 Results and Discussion
4 What Should Be Improved in This System?
5 Conclusion
References
Development of a Climbing-Robot for Spruce Pruning: Preliminary Design and First Results
1 Introduction
2 Modelling and Conceptual Design
3 Mechatronic Design and Prototyping
4 Results and Discussion
5 Conclusions
References
A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation
1 Introduction
2 Prototype
3 Controller
3.1 Power Assist Using Impedance Control
3.2 Workspace Departure Avoidance Control Using Potential Field
4 Experiments
5 Conclusions and Future Work
References
Automatic Planning of Psychologically Less-Stressful Trajectories in Collaborative Workstations: An Integrated Toolbox for Unskilled Users
1 Introduction
2 Motion Planning for Collaborative Robots
2.1 Minimum-Jerk Trajectory Based on a Variational Approach
2.2 The Invariance Property of the Extremals
3 Development of a Toolbox for Non-skilled Users
3.1 UR Control Architecture
3.2 Psafe-Toolbox and GUI
4 Validation and Discussion
5 Conclusions
References
A New Method of Climbing Downstairs by Changing Layers of Gears of Planetary Wheels for Wheelchair
1 Introduction
2 Newly Proposed Mechanism
2.1 Previous Mechanism for Climbing Upstairs and Downstairs
2.2 New Mechanism for Climbing Downstairs
3 Theoretical Calculation and Experiments of Scaled Models
4 Conclusion
References
Design and Analysis of Cable-Driven Parallel Robot CaRISA: A Cable Robot for Inspecting and Scanning Artwork
1 Introduction
2 Application Requirements and Specification
3 Structural Design
4 Workspace Analysis
4.1 Kinematics Model
4.2 Workspace Archetype and Criterion
4.3 Application-Optimal Workspace
5 Conclusions
References
A Low Cost Introductory Platform for Advanced Robotic Control
1 Background
2 Design Process
2.1 3D Printed Arm Segments
2.2 Servo Controlled Revolute Joints
2.3 Arduino Microcontroller
2.4 Design Simulation
3 Comparison
3.1 VEX Robotics
3.2 OWI Robotic Arm Edge OWI535
3.3 Lego Mindstorms EV3
3.4 Our Design
4 Comparison
4.1 Function: DH2JntSpc(DH
q
q t
m
I)
4.2 Initialization of Symbolic Matrices and Other Entities
4.3 DH Parameters Joint Space for N Joints
5 Outputs
6 Graphical Control Interface
6.1 Time Optimization
6.2 Comparison
7 Conclusion
References
Experimental Study Regarding Needle Deflection in Robotic Assisted Brachytherapy of Hepatocellular Carcinoma
1 Introduction
2 Methods
2.1 Robotic Assisted HCC Brachytherapy
2.2 The Experiment Set-Up
3 Results
4 Conclusions
References
Experimental Study of Force Transmission in 4-DOF Parallel Manipulator and Its Educational Applications
1 Introduction
2 The Mechanism
3 Carriage Failure Experiment
4 Stiffness Correlation Experiment
5 Conclusion
References
Dynamic Model of Servo Mechanical Press
1 Introduction
2 Reverse Kinematic Analysis of the Servo Mechanical Press Actuator
3 Dynamic Model of Servo Mechanical Press on SimulationX
3.1 Results of Simulation of 50-Ton Servo Mechanical Press with an Actuator Based on Slider-Crank Mechanism
4 Conclusion
References
A Decentralized Structure for the Digital Shadows of Internet of Production
1 The Essence of Internet of Production
2 Essential Key Enablers of Digital Twin
2.1 Data Lakes and Big Data
2.2 Cloud and Edge Computing
2.3 Data-Knowledge Graph and Interoperability
3 Digital Shadow of Internet of Production
4 Structure of Decentralized Digital Shadow dDS
4.1 An Exemplary Case Study
5 Conclusion and Future Works
References
Motion Trajectory Optimization of an Assistive Device During Stairs Ascending
1 Introduction
2 Walking Assistive Device
2.1 Mechanism and Function of the Assistive Device
2.2 Trajectory Teaching Mode
3 Torque-Based Optimization for Foot Trajectory
3.1 Calculation of User Outputted Torque
3.2 Principle of Optimization Method
4 Study of Experiments
5 Conclusion
References
Autonomous Flight of a Quad Tilt-Rotor UAV at Constant Altitude
1 Introduction
2 Quad Tilt-Rotor UAV
3 Autonomous Flight System
3.1 A Framework of the Autonomous Flight System
3.2 SLAM Comparison
3.3 Localization
3.4 Path Generation
4 Experimental Verification
5 Conclusions
References
Control-Based Design of a DELTA Robot
1 Introduction
2 Robot Architecture and Specifications
3 Controller-Based Robot Performance
3.1 Positioning Error Models
3.2 Controller Singularities
4 Optimal Design Process
5 Simulation and Result Analysis
6 Conclusion
References
Minimizing the Energy Consumption of a Delta Robot by Exploiting the Natural Dynamics
1 Introduction
2 Physical Background
2.1 Dynamic Model of Delta Robot with Variable Stiffness Springs in Parallel to the Motors
2.2 Energy Consumption Modeling
3 Exploiting Robot Natural Motions for Reducing the Energy Consumption
4 Simulation Results
5 Conclusions and Future Works
References
Preliminary Design and Modeling of a Robot for Pipe Navigation with a Novel Wheel-Leg Architecture
1 Introduction
2 Overall Robot Design
3 Wheel-Leg Design
4 Modeling and Simulation
5 Conclusions
References
Sensitivity Analysis of Cable Actuations for Moving a Tensegrity Mechanism Along a Specified Path
1 Introduction
2 Gait Generation Technique in Tensegrity Mechanisms
3 Pattern of Locomotion of Tensegrity Based Robots
4 Sensitivity Analysis of Tensegrity Structure
5 Simulation of Gait of Four Bar Tensegrities
6 Ground Node's Movement for Six and Eight Noded Tensegrity Mechanisms
7 Conclusion
References
An Approach to Motion Task-Oriented, Computer-Aided Design of Origami-Inspired Mechanisms
1 Introduction
2 Related Work
3 Methodology
4 Optimization Outline
4.1 Optimization Variables
4.2 Cost Function
4.3 Boundary Conditions and Constraints
5 Computation Example
6 Conclusion and Future Work
References
Asymmetric Spatial Beams with Symmetric Kinetostatic Behaviour
1 Introduction
2 Methods
3 Results
4 Discussion
5 Conclusion
References
A Semi-automatic Type Synthesis of a Closed-Loop Spatial Path-Generator
1 Introduction
2 Generalized Kinematic Model
3 Semi-automatic Type Synthesis
3.1 Adding Chain Process
3.2 Mobility-Restriction Process
4 Dimensional Synthesis
5 Design Example
6 Conclusion
References
Walking Robot Leg Design Based on Translatory Straight-Line Generator
1 Introduction
2 Six Link Leg Mechanism Structures with Translatory Output Motion
3 Approximate Synthesis of Path Generator by Minimizing Directly the Output Accuracy
4 Testing the Results
5 Optimal Leg Design
6 Conclusions
References
Developing a Flexible Segment Unit for Redundant-DOF Manipulator Using Bending Type Pneumatic Artificial Muscle
1 Introduction
2 Bending-Type Pneumatic Rubber Artificial Muscle (BPAM)
3 Flexible Bending Unit
3.1 Mechanism and Drive Principle of the Unit
4 Trajectory Tracking Experiment Using Neural-Network Learning
5 Conclusion
References
Gravity Compensation of Delta Parallel Robot Using a Gear-Spring Mechanism
1 Introduction
2 Description of the Balancing Robot
3 Design for Gravity Compensation
3.1 Torque Calculation
3.2 Determination of the Spring Stiffness and Installation Angles
4 An Illustrative Example: FANUC M-3iA/12H Delta Robot
5 Conclusion
References
Design of the Mobile Robot Agri.q
1 Introduction
2 Functional Design
2.1 Rocker Arm Mechanism
2.2 Landing Platform and Solar Panels
2.3 Robotic Arm
3 Design of the Actuation System
3.1 Kinematic Analysis
3.2 Quasi-static Analysis
3.3 Parametric Analysis
4 Preliminary Tests
4.1 Test 1
4.2 Test 2
4.3 Analysis of Results
5 Conclusions
References
Kinematic Design of an Adjustable Foot Motion Generator for Gait Rehabilitation
1 Introduction
2 Preliminary Mechanism Design
3 Kinematic Design of the Slider Crank-Cam-Slotted Bar Mechanism
4 Results
5 Optimization Possibilities
6 Conclusion
References
Design and Construction of the DragonBall
1 Introduction
2 Previous Work
3 Physical Design and Construction
3.1 Shell
3.2 Drive System
3.3 Turning
3.4 Electronics
4 Visual Tele-Operation
5 Summary and Future Work
References
Wire-Pulling Mechanism with Embedded Soft Tubes for Robot Tongue
1 Introduction
2 Mechanical Configuration
3 Kinematic Modeling
4 Durability Test
5 Deformation Test
6 Conclusion
References
Kineto-static Analysis of a Compact Wrist Rehabilitation Robot Including the Effect of Human Soft Tissue to Compensate for Joint Misalignment
1 Introduction
2 Method
2.1 Mechanical Design
2.2 Kineto-static Analysis
3 Results and Discussion
4 Conclusion
References
A Mobile Robot Which Locomotes on Walls to Interact with Rodents
1 Introduction
2 Mechanism for Locomotion Both on Floor and Wall
2.1 Target Environment
Box for Interaction Experiment
2.2 Locomotion on Wall by Magnetic Attraction
2.3 Arrangement of Magnets
3 Mechanical Design of Mobile Robot
3.1 Feature and Specifications
3.2 Mechanical Design
3.3 Onboard Control System and Its Electric Configuration
4 Performance of Mobile Robot
4.1 Locomotion on Wall
4.2 Transfer Between Floor and Wall
5 Conclusion
References
Development of Small Robot with Inline Archimedean Screw Mechanism that Can Move Through Wetlands
1 Introduction
1.1 Damage by Invasive Alien Species
1.2 Objective
1.3 Target Environment
2 Mechanism
2.1 Locomotion Mechanism
2.2 Inline Archimedean Screw Mechanism
2.3 WANGOT (WAseda Native Species Guardian RobOT)
3 Experiments and Results
3.1 Experiment of Movement Ability on Artificial Turf
3.2 Experiments of Mobility on Artificial Grass with Obstacles
4 Conclusion
References
Static Force Analysis of an Omnidirectional Mobile Robot with Wheels Connected by Passive Sliding Joints
1 Introduction
2 Proposed Omnidirectional Mobile Robot
3 Static Force Analysis
3.1 Kinematics and Statics
3.2 Driving Force Limitation
3.3 Friction Force Limitation
4 Conclusions
References
Development of a Trapezoidal Leaf Spring for a Small and Light Variable Joint Stiffness Mechanism
1 Introduction
2 Design and Mechanism
2.1 Techniques for Shortening Leaf Springs
2.2 Design of the Leaf Spring in Ankle Variable Joint Stiffness Mechanism
2.3 Design of the Ankle Variable Joint Stiffness Mechanism
3 Verification
3.1 Verification of Laminated Trapezoidal Leaf Spring
3.2 Evaluation of Stiffness Variable Range and Its Change Owing to Torque
4 Conclusion
References
Connecting MATLAB/Octave to Perceptual, Cognitive and Control Components for the Development of Intelligent Robotic Systems
1 Introduction
2 NEP for MATLAB and Octave
3 Evaluations
4 Example of Applications
5 Conclusions
References
Balancing of Planar 5R Symmetrical Parallel Manipulators Taking into Account the Varying Payload
1 Introduction
2 Shaking Force Balancing Taking into Account the Payload
2.1 Problem Formulation
2.2 Relationship Between the End-Effector and the Centre of Mass Positions of the Planar 5R Symmetrical Parallel Manipulator with a Payload
3 Numerical Illustrative Example with Simulation Results
4 Conclusions
References
A Wheeled Vehicle Driven by a Savonius-Magnus Wind Turbine
1 Introduction
2 Description of the Model
3 Equations of Motion
4 Steady Motions
5 Discussion
6 Conclusions
References
Development of an Off-board Vision-Based Control for a Micro Aerial Vehicle
1 Introduction
1.1 Background
1.2 Related Work
2 Vision-Based Control for a Micro Aerial Vehicle
2.1 Hardware
2.2 Relative Pose Estimation and Fiducial Marker Detection
2.3 Control Architecture
3 Experiments and Results
3.1 Pose Estimation and Fiducial Marker Detection
3.2 Target Landing
3.3 Battery Life Characterization
4 Conclusions
References
Stiffness Optimization of Delta Robots
1 Introduction
2 Formulation of the Optimization Problem
3 Stiffness Evaluation Criteria
4 Optimization and Results
5 Conclusions
References
Singularity Free Mode Changes of a Redundantly Driven Two Limbs Six-Dof Parallel Robot
1 Introduction
2 Kinematics of ATARIGI
3 Singularity and Redundancy of ATARIGI
3.1 Actuator Redundancy and Singularity
3.2 End-Effector Singularity
4 Enlargement the Workspace by Singularity Free Mode Changes
4.1 Singularity-Free Working Mode Change Passing xi4 xi5
4.2 Singularity-Free Working Mode Change Passing zi0 zi3
4.3 Singularity Free Mode Changes Between Elbows-Over, Gripper-Down and Elbows-Under, Gripper-Up
5 Conclusion
References
Dynamics of Tendon Actuated Continuum Robots by Cosserat Rod Theory
1 Introduction
2 Dynamic Modeling by Rod Theory
2.1 Kinematics of Rod
2.2 Rotation Representation
2.3 Strain Calculations
2.4 Energy in Continuous Form
2.5 Combined Lagrange-Euler Approach
3 Tendon Actuation Modeling
4 Model Validation
4.1 Benchmark Problems
4.2 Simulation Results of Continuum Robot
5 Conclusion
References
Proposition of On-Line Velocity Scaling Algorithm for Task Space Trajectories
1 Introduction
2 Trajectory Scaling
3 Proposed Algorithm
3.1 Underlying Ideas
3.2 Detailed Algorithm
4 Numerical Example
5 Final Remarks and Conclusions
References
Stability Analysis and Reconfiguration Strategy for Multi-agent D-Formation Control
1 Introduction
2 Multi-agent Systems Modelling and Control
2.1 Dynamics of a Fleet of Agents
2.2 Control of Flocks, Gradient-Descent of a Virtual Potential Function
2.3 Usual Geometry of Flocks: -Lattices
3 The D-Formation Problem
3.1 Problem Formulation and Theoretical Analysis
3.2 Numerical Analysis for Equilibria Evaluation
4 D-Formation Switching Control
4.1 Switching Formation Task
4.2 Fixed Target Controller
5 Conclusions
References
Braking of a Solid Body Supported by Two Supports on a Horizontal Rough Plane
1 Introduction
2 Friction Paradoxes
3 Influence of Leg Stiffness
4 Body Sliding on a Support
5 Sliding of Two Legs
6 Instant Stop of One Leg
7 Gliding of One Leg (Motion Around a Fixed Point)
8 Discussion
9 Conclusions
References
Workspace Analysis and Torque Optimization on a Schönflies-Motion Generator
1 Introduction
2 Kinematics and Dynamics
3 Workspace Analysis
4 Discussion and Conclusions
References
Analysis of Running Expansion with Trunk and Pelvic Rotation Assist Suit by Using SLIP Model
1 Introduction
2 Trunk and Pelvic Rotation Assist Suit
3 Spring-Loaded Inverted Pendulum Model
4 Running Expansion Experiment and Result Analysis
4.1 Running Expansion Experiment
4.2 Result Analysis
4.3 Discussion
5 Conclusion
References
Trajectory Planning Strategy for Multidirectional Wire-Arc Additive Manufacturing
1 Multidirectional Additive Manufacturing Using WAAM
2 Trajectory Planning Strategy for MDAM
3 Results
4 Conclusion
References
Stiffness Modeling of Planar Robotic Manipulators: Model Reduction and Identifiability of Parameters
1 Introduction
2 Problem Statement
3 Model with 22 Matrices
4 Model with 33 Matrices
5 Estimation of Model Parameters
6 Application Example
7 Conclusion
References
Forward Kinematic Analysis of a Rotary Hexapod
1 Introduction
2 Analytical and Numerical Solution of the Forward Position Analysis
3 Case-Study: Forward Position Analysis Depending on Different Orientation of the Base Links
4 Conclusions
References
Kinematics of 2-DOF AGVs with Differential Driving Wheels and Caster Wheels Modeling
1 Introduction
2 Problem Formulation
3 Kinematic Analysis
3.1 AGV Modeling
3.2 Caster Wheel Modeling
4 Simulation Results
5 Conclusions
References
Motion Synthesis Using Low-Dimensional Feature Space and Its Application to Inverse Optimal Control
1 Introduction
2 Motion Analysis Framework
3 Estimation and Synthesis Method Using FPCA
4 Validation of Variable Estimation of Motion Data
5 Conclusion
References
An Analytical Formulation for the Geometrico-Static Problem of Continuum Planar Parallel Robots
1 Introduction
2 Geometrico-Static Modelling of CPPRs
2.1 Deformation Energy of a Planar Slender Rod
2.2 Potential Energy of CPPRs
2.3 Geometrico-Static Model for CPPRs
2.4 Equilibrium Stability
2.5 Solver
3 Case Study
4 Conclusion
References
Static Analysis and Design of Extendable Mechanism Inspired by Origami Structure Based on Non-overconstrained Kinematically Equivalent Mechanism
1 Introduction
2 Non-overconstrained Kinematically Equivalent Mechanism
2.1 Target Mechanism
2.2 Non-overconstrained Kinematically Equivalent Mechanism (NO-KEM) for Deterministic Static Analysis
2.3 Generation and Confirmation of NO-KEM
3 Design of NO-KEM Having Superior Static Characteristics
4 Conclusion
References
Function Approximation Technique Based Immersion and Invariance Control for an Underactuated Tower Crane System
1 Introduction
2 Mathematica Model
3 Controller Design Process
3.1 Control Problem Statement
3.2 FATII Based Controller Design
4 Case Study
5 Conclusions
References
Dynamic Modeling and Controller Design of a Novel Aerial Grasping Robot
1 Introduction
2 Presentation of the FlyingGripper
3 Static and Dynamic Modeling of the FlyingGripper
4 Controller Design
4.1 Model Predictive Control for Tracking a Trajectory
4.2 A Control Allocation Algorithm Ensuring Closing/Opening the Fingers
5 Simulation Results
5.1 Robot Grasping a 1kg Object with Disturbances
5.2 Robot Grasping, Transporting and Placing a 1kg Object
6 Conclusion and Future Work
References
Dynamically-Feasible Trajectories for a Cable-Suspended Robot Performing Throwing Operations
1 Introduction
2 Dynamic Model
3 Launch Trajectory Planning
4 Optimal Trajectory
5 Conclusions and Future Work
References
Determination of the Geometric Parameters of a Parallel-Serial Rehabilitation Robot Based on Clinical Data
1 Introduction
2 Formulation of the Problem
3 A Mathematical Model of a Rehabilitation System
4 Description of Optimization Method
5 Simulation Results
6 Conclusion
References
Optimal Selection of Transmission Ratio and Stiffness for Series-Elastic Actuators with Known Output Load Torque and Motion Trajectories
1 Introduction
2 SEA Model
2.1 Description
2.2 Dynamic Model
3 Optimization
4 Numerical Case Study
5 Conclusion
References
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ROMANSY 23 - Robot Design, Dynamics and Control

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