Search results for "Robot"
showing 10 items of 1036 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.…
Social interaction design--
2019
Mixed Reality Annotation of Robotic-Assisted Surgery videos with real- time tracking and stereo matching
2023
Robotic-Assisted Surgery (RAS) is beginning to unlock its potential. However, despite the latest advances in RAS, the steep learning curve of RAS devices remains a problem. A common teaching resource in surgery is the use of videos of previous procedures, which in RAS are almost always stereoscopic. It is important to be able to add virtual annotations onto these videos so that certain elements of the surgical process are tracked and highlighted during the teaching session. Including virtual annotations in stereoscopic videos turns them into Mixed Reality (MR) experiences, in which tissues, tools and procedures are better observed. However, an MR-based annotation of objects requires trackin…
Human-Robot Teaming Interaction: a Cognitive Architecture Solution
2021
Inferring intentions through state representations in cooperative human-robot environments
2014
Humans and robots working safely and seamlessly together in a cooperative environment is one of the future goals of the robotics community. When humans and robots can work together in the same space, a whole class of tasks becomes amenable to automation, ranging from collaborative assembly to parts and material handling to delivery. Proposed standards exist for collaborative human-robot safety, but they focus on limiting the approach distances and contact forces between the human and the robot. These standards focus on reactive processes based only on current sensor readings. They do not consider future states or task-relevant information. A key enabler for human-robot safety in cooperative…
Intention recognition in manufacturing applications
2015
In this article, we present a novel approach to intention recognition, based on the recognition and representation of state information in a cooperative human-robot environment. States are represented by a combination of spatial relations along with cardinal direction information. The output of the Intention Recognition Algorithms will allow a robot to help a human perform a perceived operation or, minimally, not cause an unsafe situation to occur. We compare the results of the Intention Recognition Algorithms to those of an experiment involving human subjects attempting to recognize the same intentions in a manufacturing kitting domain. In almost every case, results show that the Intention…
Complex objects modeling: An entity-relationship approach
1989
Facilities for complex object modeling are nowadays needed in several areas of database applications (CAD/CAM, office automation, robotics, ...). Consequently, either new models are developed, or existing ones are extended to better respond to this requirement. Current proposals in the latter category are mainly based on the relational approach (with, as major outcome, the NF2 family of models) or on functional models like DAPLEX. This paper intends to show that the entity-relationship approach may secure an equivalent result, preserving the well known advantages inherent to this approach : increased readability and graphical display of the database schema.
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.
Fine Alignment of Thermographic Images for Robotic Inspection of Parts with Complex Geometries
2022
Increasing the efficiency of the quality control phase in industrial production lines through automation is a rapidly growing trend. In non-destructive testing, active thermography techniques are known for their suitability to allow rapid non-contact and full-field inspections. The robotic manipulation of the thermographic instrumentation enables the possibility of performing inspections of large components with complex geometries by collecting multiple thermographic images from optimal positions. The robotisation of the thermographic inspection is highly desirable to improve assessment speed and repeatability without compromising inspection accuracy. Although integrating a robotic setup fo…