Search results for "Workspace"
showing 10 items of 31 documents
Inverse kinematics of a 7 DOF manipulator using Adaptive Neuro-Fuzzy Inference Systems
2012
This paper was carried out objectively to explore and describe the inverse kinematics solutions of an anthropomorphic redundant robotic structure with seven degrees of freedom and human like workspace. Traditional inverse kinematics methods can have an unacceptably slow pace for the today's extremely redundant systems. The presented method uses the Adaptive Neuro-Fuzzy Inference Systems (ANFIS) editor and the Fuzzy Logic toolbox from MATLAB® which allow the investigation of various kinematical suitable solutions. ANFIS supports the determination of one degree of freedom, remaining therefore only six undetermined degrees. For better understanding of the simulations a CAD model that mimics th…
Implementation Challenges for Supporting Coworking Virtual Enterprises
2013
The creation of co working alliances is usually restricted to the coworkers in the same workspace. However, they might not necessarily be best partners to take advantage of a collaboration opportunity. To break the spatial constrains and find the best partners irrespective of their co working spaces location, our proposal is to represent and manage the co working alliances as virtual enterprises (VEs) and to develop a multi-agent system (MAS) that serves as Virtual Breeding Environment (VBE). In this paper we provide the basis for the future development of this system. Thus, we introduce the co working VEs distinguishing features and the initial proposals on how to implement the MAS to addr…
The Role of Employees’ Work Patterns and Office Type Fit (and Misfit) in the Relationships Between Employee Well-Being and Performance
2018
Nearly half of workers agree that their workspace is unsuitable for their work tasks. Furthermore, it is assumed that happy workers often perform better than unhappy ones. Nevertheless, due to the effect of the emotional-cognitive processes, the misfit between employees’ office type and their work patterns (complexity and interactivity) may hamper this relationship between well-being and performance. This diary study on 83 office workers ( n = 603 time points) combines information about work patterns identified by using cluster analysis with Neufert’s office type classification. Results show that the work pattern–office type (mis)fit moderates the relationship between well-being and perfor…
Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming
2010
Pulished version of an article in the journal: Meccanica. Also available from the publisher at: http://dx.doi.org/10.1007/s11012-010-9404-y This paper presents a systematic approach based on Mixed Integer Linear Programming for finding an optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of th…
Contact Estimation in Robot Interaction
2014
In the paper, safety issues are examined in a scenario in which a robot manipulator and a human perform the same task in the same workspace. During the task execution, the human should be able to physically interact with the robot, and in this case an estimation algorithm for both interaction forces and a contact point is proposed in order to guarantee safety conditions. The method, starting from residual joint torque estimation, allows both direct and adaptive computation of the contact point and force, based on a principle of equivalence of the contact forces. At the same time, all the unintended contacts must be avoided, and a suitable post-collision strategy is considered to move the r…
The dialectics of spatial performances: The interplay of tensions in activity-based organizing
2019
Navigating organizational workspace is often plagued with tensions that emerge from the interplay of intended designs with organizational activities and lived experiences. These tensions are evident in research findings, such as inconsistencies in the ways that employees react to new workplace designs. They call on scholars to rethink organizational space, not as a concrete, static, or ready-made ‘thing’, but as a set of ongoing performances that enact particular practices, clashes among opposites, and organizational tensions. Based on research in a Nordic company, this study reveals how tensions and responses to them in an activity-based office generate creative alternatives that enhance …
$(BV,L^p)$-decomposition, $p=1,2$, of Functions in Metric Random Walk Spaces
2019
In this paper we study the $(BV,L^p)$-decomposition, $p=1,2$, of functions in metric random walk spaces, a general workspace that includes weighted graphs and nonlocal models used in image processing. We obtain the Euler-Lagrange equations of the corresponding variational problems and their gradient flows. In the case $p=1$ we also study the associated geometric problem and the thresholding parameters.
Kinematic Solutions of a 7 DOF Robotic Arm Using Redundancy Circle and Fuzzy Models
2014
In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.
Multi-Objective Design of Optimisation of a Class of PKMs - The 3-DOF Gantry-Tau
2010
The main contribution of this paper is the use of the evolutionary multi-objective methodology based on the com plex search algorithm and geometric approaches to optimise a parallel kinematic structure. The design optimisation scheme includes the kinematic (collisions free workspace), elastostatic (Cartesian stiffness in the Y direction) and elastodynamic (first resonance frequency) properties of the PKM as the objectives. The optimisation constraints are the support frame lengths, actuator positions, end-effector’s kinematic parameters and the robot’s arm lengths. The optimisation results are presented in this paper.
Obstacle Detection in an Unstructured Industrial Robotic System: Comparison of Hidden Markov Model and Expert System
2012
Abstract This paper presents a comparison of two approaches for detecting unknown obstacles inside the workspace of an industrial robot using a laser rangefinder for 2-D measurements. The two approaches are based on Expert System (ES) and Hidden Markov Model (HMM). The results presented in the paper demonstrate that both approaches are able to correctly detect and classify unknown objects. The ES is characterised by low computational requirements and an easy setup when relatively few known objects are to be included inside the workspace. HMMs are characterised by a higher flexibility and the ability to handle a larger amount of known objects inside the workspace. Another significant benefit…