Real-Time End-Effector Path Following for Robot Manipulators Subject to Velocity, Acceleration, and Jerk Joint Limits
Gianluca Antonelli, Stefano Chiaverini, Giuseppe Fusco, Università di Cassino, Italy
In this paper an inverse kinematics algorithm for robot manipulators is developed which takes into account joint velocity acceleration and jerk limits while ensuring tracking of the assigned end-effector path. The desired end-effector trajectory is supposed to be assigned on-line and the algorithm is suitable for real-time implementation on non-redundant robot arms. Numerical simulation results are reported to demonstrate the effectiveness of the proposed technique.
09:50―10:10
A Fourier Series Based Iterative Learning Control for Nonlinear Uncertain Systems
Wubi Qin, Lilong Cai, Hong Kong Univ. of Science and Technology, PRC
In this paper a Fourier series based learning controller for the tracking control of nonlinear uncertain systems is proposed. The Fourier series based learning controller consists of a PD part and a learning part. The learning part generates feed forward term based on the Fourier series approximation of the PD output. By introducing a system Input-Output (I/O) mapping matrix the coupling effects of the PD output harmonics in the Fourier space are considered in our algorithm instead of treating them individually. Trajectory tracking experiments conducted on a belt driven Positioning table indicated that the proposed method was more effective than the same type of controller without the I/O matrix.
Velocity Workspace Analysis for Multi-legged Walking Robots
Jihong Lee, Insik Kim, Chungnam National University, Bong-Hwan Jeon, KRISO, Korea
In this paper the analysis of manipulability of multi-legged robotic systems under hard-foot-condition is made. Given bounds on the capabilities of joint actuators of each legs the purpose of this study is to derive the bounds for body moving velocity achievable by the system. The velocity workspace of robot system is represented as a polytope which is derived from the joint velocity limits through Jacobian matrices of each robot. This concept of manipulability for multiple cooperating robots is transformed into moving velocity analysis of multi-legged walking robots through so-called reaction velocity. To validate the proposed concept application examples are presented including continuous walking gaits as well as several different stationary posture of legged walking robots.
10:10―10:30
Application of Flat Image Recognition Technique for Automation of Micro Device Production
Tatyana N. Baidyk, UNAM, Mexico
The main idea of the suggested method is connected with using the machine vision systems for micro devices production. It is proposed to reduce the three-dimensional machine vision tasks to two-dimensional (flat) tasks of optical recognition. There are developed the contour processing algorithms (for example, thinning, thickening etc.) There are neural classifiers to solve the recognition tasks.
Local Path Modifications of Heavy Load Manipulators
Eva Dyllong, Artur Komainda, Gerhard-Mercator-Universität Duisburg, Germany
The field testing of heavy load manipulators in a varying environment requires use of efficient methods for collision detection and for fast modification of the given path of the end-effector. Motion control of the Tool Center Point (TCP) of a heavy load manipulator can be realized with a virtual elastic band in the workspace of the TCP. In this paper we present an efficient method to modify the virtual elastic band which enables it to react in real-time to local changes in the environment. The method is based on the B-Spline technique. The advantage of this new method is that the path of the TCP is only changed near the moving obstacles and points which are reached by the TCP remain unchanged. A feature which is important to real-time applications. A local modification of the virtual elastic band the influence of …
10:30―10:50
Innovative Biorobotic System for the Diagnosis of Neuro-motor Conditions: Methodology and Results
A. Rovetta, M. Bisogni, Politecnico di Milano, A. Cucè, STMicroelectronics, R. Pegoraro, Politecnico di Milano, Italy
This paper concerns a biorobotic system based on fuzzy logic to diagnose and monitor the neuro-psycho-physical conditions of an individual . The system, called Daphne, is characterized by a small dimension design; user-friendly hardware and software mean that even non-experts will be able to use this device. Furthermore, thanks to its design concept, the system can be used not only for medical applications, but also in the fields of daily health-care and sport. Daphne is a portable system, involving multiple parameters such as reaction time, speed, strength and tremor which are processed by means of fuzzy logic; additionally, the device is characterized by a voice detection system.
Statics and Singularity Loci of the 3-UPU Wrist
Raffaele Di Gregorio, Università di Ferrara, Italy
The static analysis of a parallel wrist known as 3-UPU wrist is presented and the 3-UPU wrist singularity conditions are interpreted from the statics’ point of view. An equation (singularity equation) that enables to find all the 3-UPU wrist singular configurations is written in explicit form. Moreover, the use of the Rodrigues parameters to parameterize the 3-UPU wrist platform orientation allows the singularity equation to become a fourth degree polynomial equation in three unknowns. Finally a numerical example is presented.
