Search results for "Robots"
showing 10 items of 100 documents
Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators
2017
Motion generation systems are becoming increasingly important in certain Virtual Reality (VR) applications, such as vehicle simulators. This paper deals with the analysis of the Inverse Kinematics (IK) and the reachable workspace of a three-degrees-of-freedom (3-DOF) parallel manipulator, proposing different transformations and optimizations in order to simplify its use with Motion Cueing Algorithms (MCA) for self-motion generation in VR simulators. The proposed analysis and improvements are performed on a 3-DOF heave-pitch-roll manipulator with rotational motors, commonly used for low-cost motion-based commercial simulators. The analysis has been empirically validated against a real 3-DOF …
Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots
2020
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
2021
[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when perf…
Teleoperation of industrial robot manipulators based on augmented reality
2020
[EN] This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant…
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
2019
The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. Thi…
End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis
2008
There are many interesting aspects of Internet Telerobotics within the network robotics context, such as variable bandwidth and time-delays. Some of these aspects have been treated in the literature from the control point of view. Moreover, only a little work is related to the way Internet protocols can help to minimize the effect of delay and bandwidth fluctuation on network robotics. In this paper, we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols, when performing a remote experiment within a network robotics application, the UJI Industrial Telelaboratory. Comparative analysis is presented through simulations within the NS2 platform. Results show how th…
Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching
2021
Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of …
Learning of Cooperative Behaviour in Robot Populations
2016
This paper addresses convergence and equilibrium properties of game theoretic learning algorithms in robot populations using simple and broadly applicable reward/cost models of cooperation between robotic agents. New models for robot cooperation are proposed by combining regret based learning methods and network evolution models. Results of mean-field game theory are employed in order to show the asymptotic second moment boundedness in the variation of cooperative behaviour. The behaviour of the proposed models are tested in simulation results, which are based on sample networks and a single lane traffic flow case study.
A novel clustering-based algorithm for solving spatially-constrained robotic task sequencing problems
2021
The robotic task sequencing problem (RTSP) appears in various forms across many industrial applications and consists of developing an optimal sequence of motions to visit a set of target points defined in a task space. Developing solutions to problems involving complex spatial constraints remains challenging due to the existence of multiple inverse kinematic solutions and the requirements for collision avoidance. So far existing studies have been limited to relaxed RTSPs involving a small number of target points and relatively uncluttered environments. When extending existing methods to problems involving greater spatial constraints and large sets of target points, they either require subst…
Clothoid-Based Three-Dimensional Curve for Attitude Planning
2019
Interest in flying robots, also known as unmanned aerial vehicles (UAVs), has grown during last years in both military and civil fields [1, 2]. The same happens to autonomous underwater vehicles (AUVs) [3]. These vehicles, UAVs and AUVs, offer a wide variety of possible applications and challenges, such as control, guidance or navigation [2, 3]. In this sense, heading and attitude control in UAVs is very important [4], particularly relevant in airplanes (fixed-wing flying vehicles), because they are strongly non-linear, coupled, and tend to be underactuated systems with non-holonomic constraints. Hence, designing a good attitude controller is a difficult task [5, 6, 7, 8, 9], where stabilit…