Temat: robotic arm - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Real Time Virtual Human Hand Using Leap Motion Controller
Autorzy:: Satheeshkumar, R.
Arivoli, R.
Powiązania:: https://bibliotekanauki.pl/articles/1844501.pdf
Data publikacji:: 2021
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: gesture
leap motion controller
robotic arm
Opis:: The research of robotics needs a good and accurate control. The proposed concept is touch less and non-verbal communication with the use of leap motion controller. The concept has two major parts: first part is “device perceive hand finger moments and send signal”, second part is robotic hand interfaced with PIC microcontroller which receives signal and controls robotic hand. The paper aims to link virtual environment with real time environment. The virtual environment is consisting of leap motion controller and laptop, real time environment is consisting of microcontroller and robotic arm. In real time environment parodist is converts into virtual environment.
Źródło:: International Journal of Electronics and Telecommunications; 2021, 67, 3; 471-476
2300-1933
Pojawia się w:: International Journal of Electronics and Telecommunications
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Self-adaptive grey wolf optimization based adaptive fuzzy aided sliding mode control for robotic manipulator
Autorzy:: Kalshetti, Sunil C.
Dixit, S. K.
Powiązania:: https://bibliotekanauki.pl/articles/1839121.pdf
Data publikacji:: 2018
Wydawca:: Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:: PUMA 560 robotic arm
robotic manipulator
joint angle
fuzzy model
SAGWO
Opis:: As the robotic manipulators are highly nonlinear, it is a challenging task to design, in particular, the PUMA 560 robotic arm with acceptable performance. This paper intends to show the design and development of an adaptive sliding mode controller (SMC) for a robotic manipulator. Since it is not realistic to match the SMC operations with the system model at every time instant, this paper adopts fuzzy inference to replace the system model. This approach successfully achieves the objectives of the experiment, carried out in two stages. In the first stage, it acquires the precise characteristics of the system model for the diverse samples and adequately represents the robotic manipulator. Subsequently, we derive the acquired characteristics in the form of fuzzy rules. In the second stage, we represent the derived fuzzy rules on the basis on adaptive fuzzy membership functions. Further, the approach introduces the self-adaptiveness into a recent algorithm called Grey Wolf Optimization (GWO) in order to establish the adaptive fuzzy membership functions. We then compare the effectiveness of the proposed method with the identified experimental model and the known methods, like SMC, Fuzzy SMC (FSMC), and GWO-SMC. Finally, the comparison with the known methods establishes the effectiveness of the proposed SAGWO-FSMC technique.
Źródło:: Control and Cybernetics; 2018, 47, 4; 383-409
0324-8569
Pojawia się w:: Control and Cybernetics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: SDRE applied to position and vibration control of a robot manipulator with a flexible link
Autorzy:: Lima, J. J.
Tusset, A. M.
Janzen, F. C.
Piccirillo, V.
Nascimento, C. B.
Balthazar, J. M.
Brasil, R. M. L. R. F.
Powiązania:: https://bibliotekanauki.pl/articles/281764.pdf
Data publikacji:: 2016
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: SDRE control
flexible robotic arm
SMA
active vibration control
Opis:: This paper presents position and vibration control of a flexible robot composed of two rigid and one flexible links. Position is controlled by the current applied to the DC motor armature. To control vibrations of the flexible structure, Shape Memory Alloys (SMA) are used. Due to phase transformations, the SMA can change its stiffness through temperature variation, considering and taking advantage of this characteristic the vibration control is done. Control is achieved via the State Dependent Ricatti Equations (SDRE) technique, which uses suboptimal control and system local stability search. The simulation results show the feasibility of the proposed control for the considered system.
Źródło:: Journal of Theoretical and Applied Mechanics; 2016, 54, 4; 1067-1078
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Manipulation and path planning for KUKA (LWR/ LBR 4+) robot in a simulated and real environment
Autorzy:: Jitendra, T. P.
Doss, A. S. A.
Ramon, J. A. C.
Powiązania:: https://bibliotekanauki.pl/articles/385098.pdf
Data publikacji:: 2017
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: ROS
Indigo
motion planning
moveIt simulation
OMPL
robotics
KUKA LWR robotic arm
Opis:: Robotics has accomplished its greatest triumph to date in the world of industrial manufacturing and academia. This work aims to perform path planning using a KUKA (LWR/ LBR 4+) robot platform as well as a simulator to grasp the object. This whole implementation will be carried out in a ROS environment with Ubuntu (Linux) as an operating platform. The KUKA (LWR/ LBR 4+) has 7 degrees of freedom with several joints and linkages. It uses KR C2 LR as the main hardware controller. The robot gets visual information of an object by Microsoft Kinnect RGB-D camera and carries out necessary actions to clasp the object using a shadow hand and Barrett hand. The simulation and manipulation of robot gantry is performed by using C++ and python as a programming language. The bilateral robot platform and main PC hub are linked together by using Ethernet cable. The obtained results from the current research are found to be satisfactory and can be proven beneficial for researcher as a reference.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 3; 15-21
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Robotic Arm Control Using Phantom Device
Sterowanie manipulatorem za pomocą fantomu
Autorzy:: Rećko, M.
Powiązania:: https://bibliotekanauki.pl/articles/275565.pdf
Data publikacji:: 2017
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: robotic arm
control algorithm
phantom device
mobile robot
ramię robota
algorytm sterowania
urządzenie fantomowe
robot mobilny
Opis:: Presented paper consists of consideration of an intuitive way of control of mobile robot’s robotic arm. A review of current control trends and methods in given scenario is presented. It is used to draw conclusions towards the creation of author’s control method. Author’s solution to this problem is a robotic arm–phantom device system. Created algorithm is presented in following part of the paper. Article includes preliminary quality tests conducted on a designed system. Research showed system’s satisfactory performance, although indicated parts that required fine-tuning. The paper concludes with a prediction of future development of the system, its algorithm and needed modifications in order to use in two arm control scenarios.
Przedmiotem pracy było opracowanie intuicyjnego systemu sterowania manipulatorem robota mobilnego. Przedstawiono obecne kierunki rozwoju sterowania oraz przegląd zastosowanych metod w przypadku sterowania nadążnego. Na podstawie obserwacji wyciągnięto wnioski, które stanowią podstawę rozważań nad autorskim rozwiązaniem. Proponowanym rozwiązaniem problemu sterowania jest układ manipulator – fantom. Opracowano algorytm, który został zaprezentowany w dalszej części artykułu. Zawarto również wyniki wstępnych badań jakości sterowania zaprojektowanego systemu. Badania wykazały zadowalającą wydajność rozwiązania oraz wskazały miejsca, w których należałoby dokonać niezbędnych usprawnień. Praca jest zakończona planami dalszego rozwoju projektu oraz propozycją modyfikacji, które pozwoliłyby na stworzenie systemu do sterowania dwoma ramionami.
Źródło:: Pomiary Automatyka Robotyka; 2017, 21, 2; 85-89
1427-9126
Pojawia się w:: Pomiary Automatyka Robotyka
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Kinematic Analysis of 6-DOF Arms for H20 Mobile Robots and Labware Manipulation for Transportation in Life Science Labs
Autorzy:: Ali, M. M.
Liu, H.
Stoll, N.
Thurow, K.
Powiązania:: https://bibliotekanauki.pl/articles/384603.pdf
Data publikacji:: 2016
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: kinematic analysis 6-DOF robotic arm
validation of kinematic solution
labware localization
labware manipulation
Kinect sensor
Opis:: This paper presents the kinematic analysis of the H20 humanoid mobile robot. The kinematic analysis for the robot arms is essential to achieve accurate grasping and placing tasks for object transportation. The H20 robot has dual arms with 6 revolute joints with 6-DOF. For each arm, the forward kinematics is derived and the closed-form solution for the inverse kinematic problem with different cases of singularities is found. A reverse decoupling mechanism method is used to solve the inverse kinematic problem analytically by viewing the arm kinematic chain in reverse order. The kinematics solution is validated using MATLAB with robotics toolbox. A decision method is used to determine the optimal solution within multiple solutions of inverse kinematic depending on the joints’ limits and minimum joints motion. The workspace analysis of the arm is found and simulated. Finally, a verification process was performed on the real H20 arms by applying blind and vision based labware manipulation strategies to achieve the transportation tasks in real life science laboratories.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 4; 40-52
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: 2D microgravity test-bed for the validation of space robot control algorithms
Autorzy:: Oleś, J.
Kindracki, J.
Rybus, T.
Mężyk, Ł.
Paszkiewicz, P.
Moczydłowski, R.
Barciński, T.
Seweryn, K.
Wolański, P.
Powiązania:: https://bibliotekanauki.pl/articles/384755.pdf
Data publikacji:: 2017
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: space debris
Active Debris Removal
Kessler syndrome
microgravity simulator
space robot
robotic arm
manipulator
control algorithm
Opis:: The utilization of satellites equipped with robotic arms is one of the existing strategies for Active Debris Removal (ADR). Considering that the time intended for on-orbit capturing manoeuvres is strictly limited, any given space robot should possess a certain level of autonomy. This paper is about the control of on-orbit space robots and the testing of such objects in laboratory conditions. The Space Research Centre of the Polish Academy of Sciences (CBK PAN) possesses a planar air bearing microgravity simulator used for the testing of advanced control algorithms of space robots supported on air bearings. This paper presents recent upgrades to the testing facility. Firstly, the base of the space robot is now equipped with manoeuvre thrusters using compressed nitrogen and therefore allowing for position control of the entire system. Secondly, a signal from an external vision system, referencing the position and orientation of the robot’s parts is used by the control system for the closed loop control.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 2; 95-104
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Integration of navigation, vision, and arm manipulation towards elevator operation for laboratory transportation system using mobile robots
Autorzy:: Abdulla, A. A.
Ali, M. M.
Stoll, N.
Thurow, K.
Powiązania:: https://bibliotekanauki.pl/articles/384579.pdf
Data publikacji:: 2017
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: mobile robot
multi-floor
elevator handler
floor estimation
labware transportation system
kinematic analysis
robotic arm control
object detection
localization
Intel Real sense F200 sensor
Opis:: In the automated environments, mobile robots play an important role to perform different tasks such as objects transportation and material handling. In this paper, a new method for a glassy elevator handling system based on H20 mobile robots is presented to connect distributed life science laboratories in multiple floors. Various labware and tube racks have to be transported to different workstations. Locating of elevator door, entry button detection, internal buttons recognition, robot arm manipulation, current floor estimation, and elevator door status checking are the main operations to realize a successful elevator handling system. The H20 mobile robot has dual arms where each arm consists of 6 revolute joints and a gripper. The gripper has two degrees of freedom. Different sensors have been employed with the robot to handle these operations such as Intel RealSense F200 vision sensor for entry and internal buttons detection with position estimation. A pressure sensor is used for current floor estimation inside the elevator. Also, an ultrasonic proximity distance sensor is utilized for checking the elevator door status. Different strategies including HSL color representation, adaptive binary threshold, optical character recognition, and FIR smoothing filter have been employed for the elevator operations. For pressing operation, a hand camera base and a new elevator finger model are designed. The elevator finger is resolved in a way to fit the arm gripper which is used also to manipulate the labware containers. The Kinematic solution is utilized for controlling the arms’ joints. A server/client socket architecture with TCP/IP command protocol is used for data exchange between Multi-Floor System and the H20 robot arms. Many experiments were conducted in life science laboratories to validate the developed systems. Experimental results prove an efficient performance with high success rate under different lightening condition.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 4; 34-50
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Fractional order based computed torque control of 2-link robotic arm
Autorzy:: Anwaar, Haris
Yixin, Yin
Ijaz, Salman
Ashraf, Muhammad Ammar
Anwaar, Waqas
Powiązania:: https://bibliotekanauki.pl/articles/103321.pdf
Data publikacji:: 2018
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:: fractional order PID controller
computed torque controller
2-link robotic arm
Nelder-Mead optimization
regulator PID
regulator momentu obrotowego
2-linkowe ramię robota
optymalizacja Neldera-Meada
Opis:: The paper proposes the application of fractional order controller in position tracking control of 2-link nonlinear robotic arm. The nonlinear system dynamics is linearized using inverse dynamics of the model and fractional order PID controller is designed to deal with remaining tracking errors. The optimal values of controller pa-rameters are calculated using Nelder-Mead optimization technique based on desired design criteria. The objective function is designed using weighted sum approach on each performance specification based on transient domain parameters. It can be seen from simulation results that fractional order controller together with computed torque controller improved tracking performance of proposed system as compared to PID controller used in the outer loop. Moreover, the robustness of proposed scheme is checked by applying the disturbance signal at control input channels of 2-link nonlinear robotic arm links.
Źródło:: Advances in Science and Technology. Research Journal; 2018, 12, 1; 273-284
2299-8624
Pojawia się w:: Advances in Science and Technology. Research Journal
Dostawca treści:: Biblioteka Nauki

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