Search results for " robot"
showing 10 items of 408 documents
Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots
2022
The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their in- trinsic elastic elements and nonlinear force-deflection dependency. This letter first proposes a discrete-time delayed unknown input- state observer based on a nominal robot model that reconstructs the total torque disturbance vector, resulting from the imperfect knowledge of the elastic torque characteristic, external torques, and other model uncertainties. Then, it introduces a robust controller, that actively compensates for the estimated uncertainty and allows bounded stability for the tracking of independent link position and joint stiffness reference signals.…
Methods for Experimentally Determining Stiffness of a Multi-Axis Machining Centre
2019
This paper deals with global methods for experimentally determining the static stiffness of multi-axis machining centres. Different devices used for measuring deflection, in specific, are explored, where accuracy and usability are highlighted. The methods were tested on a 3-axis CNC milling machine, 2-axis trunnion table and a 6-DOF industrial robot.
Study upon the kinematic simulation of the incremental forming carried-on using a serial industrial robot
2021
Abstract Incremental forming with contact between tool-sheet metal workpiece in a single point is an unconventional process which allow the user to manufacture parts by combining the vertical movement of the tool along Z-axis and the horizontal movements of sheet metal workpiece, which are performed in XY plane. As technological equipment able to control coordinated movements on three axes, CNC machining centers and industrial serial robots with six degrees of freedom are the most suitable. The paper introduces a study regarding the use of robots as technological equipment for the process, by means of simulation. Supplementary degrees of freedom and singularities avoidance are also consider…
Method for estimating combined controller, joint and link stiffnesses of an industrial robot
2014
In this paper a new combined local/global approach for estimating the combined stiffnesses of joints in anthropomorphic robots is presented. The stiffness of each joint is a combination of several effects: i) stiffness of the links, ii) stiffness of joint bearings and gears and iii) stiffness of the position control loops given by the individual axis controller gains in the controller software. Experimental results are presented for an ABB IRB6600 industrial robot using measurements from a FARO Xi laser tracker and an ATI Omega160 force/torque sensor. The results show that there is a significant variation in stiffness among the individual joints of the robot and that the stiffnesses of the …
Enabling robotic adaptive behaviour capabilities for new industry 4.0 automated quality inspection paradigms
2020
The seamless integration of industrial robotic arms with server computers, sensors and actuators can revolutionise the way in which automated non-destructive testing (NDT) is performed and conceived. Achieving effective integration and realising the full potential of robotic systems presents significant challenges, since robots, sensors and end-effector tools are often not necessarily designed to be put together and form a holistic system. This paper presents recent breakthroughs, opening up new scenarios for the inspection of product quality in advanced manufacturing. Many years of research have brought to software platforms the ability to integrate external data acquisition instrumentatio…
Robot acceptance model for care (RAM-care) : A principled approach to the intention to use care robots
2020
Robots are emerging in welfare services, and organizations require information on whether novel technologies are approved among staff. On the basis of technology acceptance theories, this study proposes a model that adds a principled approach to the intention to use care robots. Data of 544 professionals with care robot experience were collected. The use intention was predicted by usefulness, enjoyment, social influence, and attitude. Respondents who found robots useful and accepted by their colleagues were more likely to view robot use as consistent with their personal values. The care robot acceptance model supports consideration of the profession-specific context in robotization. peerRev…
Learning high-level manipulative tasks through imitation
2006
This paper presents ConSCIS, Conceptual Space based Cognitive Imitation System, which tightly links low-level data processing with knowledge representation in the context of robot imitation. Our focus is on the program-level imitation: we are interested in the final effects of actions on objects, and not on the particular kinematic or dynamic properties of the motion. The same architecture is used both to analyze and represent the task to be imitated, and to perform the imitation by generalizing in novel and different circumstances. The implemented experimental scenario is a two dimensional world populated with various objects in which observation/imitation takes place. To validate our appr…
Embodied responses to musical experience detected by human bio-feedback brain features in a geminoid augmented architecture
2018
Abstract This paper presents the conceptual framework for a study of musical experience and the associated architecture centred on Human-Humanoid Interaction (HHI). On the grounds of the theoretical and experimental literature on the biological foundation of music, the grammar of music perception and the perception and feeling of emotions in music hearing, we argue that music cognition is specific and that it is realized by a cognitive capacity for music that consists of conceptual and affective constituents. We discuss the relationship between such constituents that enables understanding, that is extracting meaning from music at the different levels of the organization of sounds that are f…
Modelling the insect Mushroom Bodies: Application to sequence learning
2015
Learning and reproducing temporal sequences is a fundamental ability used by living beings to adapt behaviour repertoire to environmental constraints. This paper is focused on the description of a model based on spiking neurons, able to learn and autonomously generate a sequence of events. The neural architecture is inspired by the insect Mushroom Bodies (MBs) that are a crucial centre for multimodal sensory integration and behaviour modulation. The sequence learning capability coexists, within the insect brain computational model, with all the other features already addressed like attention, expectation, learning classification and others. This is a clear example that a unique neural struc…
Indoor Scene Understanding using Non-Conventional Cameras
2020
Humans understand environments effortlessly, under a wide variety of conditions, by the virtue of visual perception. Computer vision for similar visual understanding is highly desirable, so that machines can perform complex tasks by interacting with the real world, to assist or entertain humans. In this regard, we are particularly interested in indoor environments, where humans spend nearly all their lifetime.This thesis specifically addresses the problems that arise during the quest of the hierarchical visual understanding of indoor scenes.On the side of sensing the wide 3D world, we propose to use non-conventional cameras, namely 360º imaging and 3D sensors. On the side of understanding, …