EPE Association: EPE-PEMC 2004 - Topic 07-2: Robotics

EPE-PEMC 2004 - Topic 07-2: Robotics
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2004 - Conference > EPE-PEMC 2004 - Topic 07: MOTION CONTROL, ROBOTICS AND ADJUSTABLE SPEED DRIVES > EPE-PEMC 2004 - Topic 07-2: Robotics

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   An Approach To Motion Planning Of Mobile Robots Considering Dynamic Constraints
By Misel Brezak, Ivan Petrovic, Andreja Kitanov [View]
[Download]

Abstract: In this paper a real-time motion planner for mobile robots with differential drives is proposed. Its main advantages are smooth robot trajectory and relatively low computational complexity. The proposed algorithm produces near time optimal robot motion. It is particularly suitable in cases when desired robot configuration is defined not only with robot pose, but also with its velocity in the desired pose. This is the case, for example, in robot soccer, where robot must kick the ball with desired orientation and velocity.

   Automated Design Of Special Robots And Their Parts Taking Into Account The Working Conditions And Maintenance Peculiarities
By Alexander Urbah, Andrew Belovec [View]
[Download]

Abstract: Major requirements towards special robots as well as the methodology of design and calculation of their main parts using CAD/CAE technologies have been formulated in this article. A model example of robot designed to deal with dangerous cargos has been examined.

   Bilateral Forceps For Medicine Based On Quarry Of Environmental Information
By Seiichiro Katsura, Kouhei Ohnishi [View]
[Download]

Abstract: In recent years, a realization of haptic system is desired strongly in the fields of medical treatment and expert’s skill acquisition. The key - point of haptics is to realize a vivid presentation of reactive force, particularly in applications that involve touching action. An integrated system design of an analysis of interaction between a robot and the environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. A disturbance observer is a basic technology for quarry of disturbance torque and attainment of robust acceleration control. By using wide band width of force sensing based on the disturbance observer, an ability of bilateral control is drastically improved. A four - channel controller which is integrated of position control and force control in the acceleration dimension is decomposed into two modes; common and differential modes. A design of bilateral control is treated as position and force control in single joint, respectively. Our research group has successfully generated a good realization of reactive force for slave side at master side in bilateral force control. This haptic feedback has been implemented in the medical forceps. Proposed bilateral control architecture based on quarry of the environmental information will be a fundamental technology for evolution of haptic devices.

   Camera Motion Control Based On Ubiquitous Computing
By B. Resko, P. T. Szemes, P. Korondi, P. Baranyi, H. Hashimoto [View]
[Download]

Abstract: Intelligent Space based on ubiquitous computing is a space which has distributed sensory intelligence and is equipped with actuators. The various devices of ubiquitous sensory intelligence cooperate with each other autonomously, and the whole space has high intelligence, where we can easily interact with computers and robots, and get useful services from them. The intelligent space is based on several Distributed Intelligent Network Devices (DIND). A DIND has a sensor input, integrated intelligence and a communication interface. The most important sensors in a DIND are video cameras. This paper presents a DIND that uses artificial neural network for tracking objects moving in front of the camera of a DIND. The task is performed by a biologically inspired artificial neural network, which is a first step toward cognitive systems in Intelligent Space. An adaptive neural based image memory and a neural matching system is used. The proposed neural structure can be embedded in an analog neural hardware to produce a real time solution for camera motion control in object tracking that is faster and more robust than existing solutions.

   Choice Of Drives For Redundant Robot-Manipulators Based On Sensibility Criterion
By George Boiadjiev, Daniela Vassileva [View]
[Download]

Abstract: Redundant robot-manipulators are considered. Their position and orientation states are realized by a subset of six active drives in the most arbitrary case. The work treats the question how any of these subsets have to be chosen to maintain the needed state of robot in the sense of accuracy according to the sensibility criterion. The criterion itself shows what kind of sensibility characteristics the system must reveal following a task of execution. Sensibility is a system quality characteristic mathematically defined as a homomorphism between robot configuration space and working zone. It is well known redundancy brings more inexactness in the system as a whole but, on the other hand, it can increase the accuracy in some specific system states.

   Colour-Based Object Tracking For A Robotic System USING CMUCam
By Aleksandrs Glazs, Yann Kristofic [View]
[Download]

Abstract: In this paper a robotic system that shows how the computer vision can be used for object tracking has been presented. This system allows the identification of coloured object, to track it and to follow the moving object. For these tasks it is necessary to choose the robot prototype and dedicated algorithms for tracking and following an object by the robotic system. As the choice of the prototype and the algorithm for an object tracking was described in [1], this paper is focusing on the mathematical description of the algorithm for following an object by the robotic system.

   Deadlock Prevention In Manufacturing Systems Based On Petri Nets
By Danko Kezic, Nedjeljko Petric, Ivan Petrovic [View]
[Download]

Abstract: This paper deals with a deadlock prevention method in manufacturing systems based on Petri nets. The manufacturing system is a discrete event system which has the potential deadlock states. The paper shows how it is possible to model manufacturing system by Petri net and how it is possible to synthesize the Petri net supervisor that will prevent deadlock occurrence. Deadlock prevention algorithm proposed in this paper uses reachability tree to detect deadlock state and iterative siphon control method to synthesize the supervisor. Such deadlock prevention supervisor is maximally permissive and consists of minimal number of control places. The algorithm is usable for reversible or partially reversible P-T Petri net, but it can also be applied to ordinary nets. Finally, illustrative example of deadlock prevention of a flexible assembly cell with three robots and conveyors is presented.

   Prioritized Data Transfer For A Bilateral Robot Control Via Real-Time Network System
By Yutaka Uchimura, Nobuyuki Yamasaki, Kouhei Ohnishi [View]
[Download]

Abstract: This paper presents a prioritization scheme for the robot control-related data, which are transmitted via a real-time network system. The network system is constructed by a device named Responsive Processor and it is applied to a bilateral robot system, which is driven by a controller based on impedance matching theory. Due to the limitation of the network capacity, the priority order of the robot control-related data need to be determined. We made an analysis on a control system with time delay and assigned the priority order considering the robustness against time delay. In order to evaluate the priority assignment, we conducted experiments on the network based bilateral robot. The experimental results verified the order of the priority assignment and supported the prioritization scheme.

   Surgery Assisting Robot Module For Orthopedic Manipulation Bone Drilling
By Tony Boiadjiev, George Boiadjiev, Vladimir Vitkov [View]
[Download]

Abstract: Recently the scientific researches increase where the subject is the robot application in medicine. That can be understood also as a direct subsequence of fast development of an actual scientific research field – the force control strategies and methods for robot-manipulators as well as their successful application in specific contact task solution. In the work the robot module construction is proposed. The dynamic equatitions are obtained by using graph theory and the Orthogonality principle method. The control signals are synthesised on the base of resistant force measured during drilling process. The corresponding experimental set up is shown as well as some results are presented.

   Task Formulation And Conceptual Design Of A Teleoperated Surgical Robot For Application In Neurosurgery And Microsurgery
By P. G. Malinov, G. Todorov, T. D. Neshkov [View]
[Download]

Abstract: Teleoperated robotic surgery is being applied for different operations in the world where precise and complicated manipulations are needed. This paper treats the problem of the robot task formulation for an application in neurosurgery and microsurgery. The research activities for this purpose are reviewed and discussed leading to determination of the surgical robot configuration, functions and tasks.

EPE-PEMC 2004 - Topic 07-2: Robotics
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2004 - Conference > EPE-PEMC 2004 - Topic 07: MOTION CONTROL, ROBOTICS AND ADJUSTABLE SPEED DRIVES > EPE-PEMC 2004 - Topic 07-2: Robotics
	[return to parent folder]

	An Approach To Motion Planning Of Mobile Robots Considering Dynamic Constraints By Misel Brezak, Ivan Petrovic, Andreja Kitanov	[View] [Download]
Abstract: In this paper a real-time motion planner for mobile robots with differential drives is proposed. Its main advantages are smooth robot trajectory and relatively low computational complexity. The proposed algorithm produces near time optimal robot motion. It is particularly suitable in cases when desired robot configuration is defined not only with robot pose, but also with its velocity in the desired pose. This is the case, for example, in robot soccer, where robot must kick the ball with desired orientation and velocity.

	Automated Design Of Special Robots And Their Parts Taking Into Account The Working Conditions And Maintenance Peculiarities By Alexander Urbah, Andrew Belovec	[View] [Download]
Abstract: Major requirements towards special robots as well as the methodology of design and calculation of their main parts using CAD/CAE technologies have been formulated in this article. A model example of robot designed to deal with dangerous cargos has been examined.

	Bilateral Forceps For Medicine Based On Quarry Of Environmental Information By Seiichiro Katsura, Kouhei Ohnishi	[View] [Download]
Abstract: In recent years, a realization of haptic system is desired strongly in the fields of medical treatment and expert’s skill acquisition. The key - point of haptics is to realize a vivid presentation of reactive force, particularly in applications that involve touching action. An integrated system design of an analysis of interaction between a robot and the environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. A disturbance observer is a basic technology for quarry of disturbance torque and attainment of robust acceleration control. By using wide band width of force sensing based on the disturbance observer, an ability of bilateral control is drastically improved. A four - channel controller which is integrated of position control and force control in the acceleration dimension is decomposed into two modes; common and differential modes. A design of bilateral control is treated as position and force control in single joint, respectively. Our research group has successfully generated a good realization of reactive force for slave side at master side in bilateral force control. This haptic feedback has been implemented in the medical forceps. Proposed bilateral control architecture based on quarry of the environmental information will be a fundamental technology for evolution of haptic devices.

	Camera Motion Control Based On Ubiquitous Computing By B. Resko, P. T. Szemes, P. Korondi, P. Baranyi, H. Hashimoto	[View] [Download]
Abstract: Intelligent Space based on ubiquitous computing is a space which has distributed sensory intelligence and is equipped with actuators. The various devices of ubiquitous sensory intelligence cooperate with each other autonomously, and the whole space has high intelligence, where we can easily interact with computers and robots, and get useful services from them. The intelligent space is based on several Distributed Intelligent Network Devices (DIND). A DIND has a sensor input, integrated intelligence and a communication interface. The most important sensors in a DIND are video cameras. This paper presents a DIND that uses artificial neural network for tracking objects moving in front of the camera of a DIND. The task is performed by a biologically inspired artificial neural network, which is a first step toward cognitive systems in Intelligent Space. An adaptive neural based image memory and a neural matching system is used. The proposed neural structure can be embedded in an analog neural hardware to produce a real time solution for camera motion control in object tracking that is faster and more robust than existing solutions.

	Choice Of Drives For Redundant Robot-Manipulators Based On Sensibility Criterion By George Boiadjiev, Daniela Vassileva	[View] [Download]
Abstract: Redundant robot-manipulators are considered. Their position and orientation states are realized by a subset of six active drives in the most arbitrary case. The work treats the question how any of these subsets have to be chosen to maintain the needed state of robot in the sense of accuracy according to the sensibility criterion. The criterion itself shows what kind of sensibility characteristics the system must reveal following a task of execution. Sensibility is a system quality characteristic mathematically defined as a homomorphism between robot configuration space and working zone. It is well known redundancy brings more inexactness in the system as a whole but, on the other hand, it can increase the accuracy in some specific system states.

	Colour-Based Object Tracking For A Robotic System USING CMUCam By Aleksandrs Glazs, Yann Kristofic	[View] [Download]
Abstract: In this paper a robotic system that shows how the computer vision can be used for object tracking has been presented. This system allows the identification of coloured object, to track it and to follow the moving object. For these tasks it is necessary to choose the robot prototype and dedicated algorithms for tracking and following an object by the robotic system. As the choice of the prototype and the algorithm for an object tracking was described in [1], this paper is focusing on the mathematical description of the algorithm for following an object by the robotic system.

	Deadlock Prevention In Manufacturing Systems Based On Petri Nets By Danko Kezic, Nedjeljko Petric, Ivan Petrovic	[View] [Download]
Abstract: This paper deals with a deadlock prevention method in manufacturing systems based on Petri nets. The manufacturing system is a discrete event system which has the potential deadlock states. The paper shows how it is possible to model manufacturing system by Petri net and how it is possible to synthesize the Petri net supervisor that will prevent deadlock occurrence. Deadlock prevention algorithm proposed in this paper uses reachability tree to detect deadlock state and iterative siphon control method to synthesize the supervisor. Such deadlock prevention supervisor is maximally permissive and consists of minimal number of control places. The algorithm is usable for reversible or partially reversible P-T Petri net, but it can also be applied to ordinary nets. Finally, illustrative example of deadlock prevention of a flexible assembly cell with three robots and conveyors is presented.

	Prioritized Data Transfer For A Bilateral Robot Control Via Real-Time Network System By Yutaka Uchimura, Nobuyuki Yamasaki, Kouhei Ohnishi	[View] [Download]
Abstract: This paper presents a prioritization scheme for the robot control-related data, which are transmitted via a real-time network system. The network system is constructed by a device named Responsive Processor and it is applied to a bilateral robot system, which is driven by a controller based on impedance matching theory. Due to the limitation of the network capacity, the priority order of the robot control-related data need to be determined. We made an analysis on a control system with time delay and assigned the priority order considering the robustness against time delay. In order to evaluate the priority assignment, we conducted experiments on the network based bilateral robot. The experimental results verified the order of the priority assignment and supported the prioritization scheme.

	Surgery Assisting Robot Module For Orthopedic Manipulation Bone Drilling By Tony Boiadjiev, George Boiadjiev, Vladimir Vitkov	[View] [Download]
Abstract: Recently the scientific researches increase where the subject is the robot application in medicine. That can be understood also as a direct subsequence of fast development of an actual scientific research field – the force control strategies and methods for robot-manipulators as well as their successful application in specific contact task solution. In the work the robot module construction is proposed. The dynamic equatitions are obtained by using graph theory and the Orthogonality principle method. The control signals are synthesised on the base of resistant force measured during drilling process. The corresponding experimental set up is shown as well as some results are presented.

	Task Formulation And Conceptual Design Of A Teleoperated Surgical Robot For Application In Neurosurgery And Microsurgery By P. G. Malinov, G. Todorov, T. D. Neshkov	[View] [Download]
Abstract: Teleoperated robotic surgery is being applied for different operations in the world where precise and complicated manipulations are needed. This paper treats the problem of the robot task formulation for an application in neurosurgery and microsurgery. The research activities for this purpose are reviewed and discussed leading to determination of the surgical robot configuration, functions and tasks.