Robotics: Control, Sensing, Vision, and Intelligence
... Вектор �⃗ −1 -характеризует положение точки начала системы координат в системе отсчета −1 −1 −1 −1 . С помощью матрицы −1 можно связать радиусывекторы одной и той же точки в системах −1 −1 −1 −1 и : Положение и ориентация -того звена манипулятора в системе отсчета 0 0 0 0 , связанной со стойкой, определяется следующим образом [7]: ...
... Положение и ориентация i-того звена манипулятора в системе отсчета O 0 X 0 Y 0 Z 0 , связанной со стойкой, определяется следующим образом [7]: ...
... Положение и ориентация -того звена манипулятора в системе отсчета 0 0 0 0 , связанной со стойкой, определяется следующим образом [7]: ...
This article presents the direct positional problem of the RRRRT manipulator created by the authors of the 3D model and its movement using the Maple software environment. In this paper, the positional kinematics problem of this manipulator is studied in detail. To find the kinematic characteristics of the manipulator, the Denavit-Hartenberg and Newton-Euler methods were rationally used. The results were obtained in the Maple software environment, which allows you to obtain the results of kinematic characteristics in the form of 3D graphs. Such graphs allow you to visually see how the modules and directions of the given parameters of the manipulator in the graphs change in space, depending on the position of the manipulator in space.
... The dynamic modeling of a robot manipulator can be performed using three approaches: manual modeling [3], [4], computer-based modeling [5], [6], and hybrid modeling [7]. Robot manipulator dynamics modeling using manual or analytical approaches, such as the Lagrange-Euler [8] and Newton-Euler formulation [9], require a high level of knowledge of dynamics and physics laws. If the parameters are not modeled correctly, there will be a discrepancy between the model and actual dynamics of the robot. ...
... In this study, the Lagrange-Euler method was chosen because of the simplicity of the algorithms to model robot manipulators in multi-DoF and mostly used in control system. Based on Table 1, the model equations obtained using the Lagrange-Euler [9] method are expressed in Table 2. The hardware interconnection diagram used for system identification is shown in Fig.3, where the computer was used as a monitoring or logging system to read the sensor output and actuator input, which were sent by an 8-bit microcontroller. ...
... Based on derivation using Lagrange-Euler, Newton-Euler, and Generalized d'Almbert formulation [9], [34], the rotation of the robot manipulator is influenced by three components: Coriolis and centrifugal H , gravity C and the moment of inertia D torque. The inverse dynamics of the robot manipulator equation using the torque τ as the input are defined as ...
The challenge in controlling a manipulator robot is to model the system to obtain an efficient control system design. One approach that can be used to model the dynamics of a manipulator robot is data-driven modeling. However, in its implementation, data-driven modeling is highly sensitive to sensor noise, which significantly affects the accuracy of the system identification. In addition, the existing approach yields only a generalized form of the differential equation for each joint, which has not been divided into inertial, Coriolis, and gravitational variables that can be used for other purposes. In this study, a LASSO model selection criteria with a variable segregation algorithm (LMSCVS) is proposed to derive the dynamic equation of a 3-DoF manipulator robot, segregating the generalized form variables into Coriolis and centrifugal, inertia, and gravitational variables. Additionally, a Dynamic Expression Nonlinearization(DEx-N) algorithm is introduced to generate nonlinear candidates more efficiently to express the dynamics of the robot manipulator. The experimental results on the ROB3 hardware demonstrate that the proposed method successfully discovers mathematical equations, resulting in higher accuracy and sparsity compared to the previous method. The processing time of the proposed method is also significantly faster. Based on these results, the proposed method has a better performance in identifying real systems that usually have noise in the sensor data and in discovering the equation of robot manipulator dynamics for broader purposes.
... According to the methodology described in reference [24], the actuator torque for the i-th joint can be calculated using Equation (4). The acceleration-related symmetric matrix is defined in Equation (5) and its properties have been discussed in previous research [24,25]. ...
... According to the methodology described in reference [24], the actuator torque for the i-th joint can be calculated using Equation (4). The acceleration-related symmetric matrix is defined in Equation (5) and its properties have been discussed in previous research [24,25]. ...
... Equation (5) employs the trace operator, denoted by Tr, to compute the sum of a matrix's diagonal elements. This mathematical tool is frequently used in linear algebra and has been previously defined by Fu et al. [24] and Weisstein [26]. Equation (8) provides a concise mathematical definition of the trace operator. ...
Programming industrial robots is a complex and time-consuming task that requires skilled operators. To simplify this process, this study proposes a method for programming a 3 DOF robot using natural hand motions. During the robot learning phase, the human operator holds and moves the robot's endpoint to the desired position, and saves it without using force/torque sensors. The impedance controller coefficients are then adjusted to minimize the gravity effects to zero, ensuring seamless movement of the robot without resistance. It has been observed that the reaction forces on the human hand are very low except for the singular position of the robot, where the reaction forces increase. During the operating mode, the robot's endpoint visits the sequential positions taught by the human, and the Bees Algorithm is used to optimize the impedance controller coefficients based on simulations. The proposed method is flexible and can be applied to various tasks, making it suitable for a wide range of applications. Simulation results demonstrate the effectiveness of this method, highlighting its potential to enhance the performance of industrial robots when interacting with the environment. The optimized impedance controller ensures precise movements, and the proposed method offers several advantages over traditional programming methods, such as reduced programming time and improved ease of use. Overall, this study presents a promising solution to the challenges of programming industrial robots using natural hand motions, offering a more efficient and user-friendly approach that can enhance productivity and improve product quality. Further research is needed to explore the potential of this method in more complex tasks and environments.
... The calculation of the actuator torque for the i-th joint can be obtained using Equation (4), as described in reference [23]. The acceleration-related symmetric matrix is expressed in Equation (5), which has been previously explained in literature [23,24]. ...
... The calculation of the actuator torque for the i-th joint can be obtained using Equation (4), as described in reference [23]. The acceleration-related symmetric matrix is expressed in Equation (5), which has been previously explained in literature [23,24]. The impedance torque acting on the i-th joint is denoted as +# . ...
... Equation (5) utilizes the trace operator, which is a widely used mathematical tool in linear algebra for computing the sum of diagonal elements of a matrix. This operator, denoted as Tr, has been previously discussed in literature by Fu et al. [23] and Weisstein [25]. The formal definition of the trace operator is given by Equation (8), which provides a compact representation of the operator. ...
This study aims to investigate the impact of different input trajectory functions on the energy consumption of a 3 degree-of-freedom (DOF) robot controlled by an impedance controller. Industrial robot manipulators, such as painting robots, require arm position control; however, situations may arise where obstacles exist between the robot and its environment, necessitating the avoidance of harm to both itself and other entities. Impedance control enables the dynamic relationship between the robot and the environment to be managed. The force exerted by the robot on the environment is dependent on the endpoint position of the robot and the corresponding impedance. The input trajectory function employed in impedance control affects the interaction distance of the impedance force, which, in turn, impacts the interaction force and torques in the joints, thereby influencing the robot's energy consumption. To optimize the impedance controller parameters, the Bees Algorithm was used to minimize positioning errors for three input trajectory functions: step, sinusoidal, and sigmoid. The study compared the energy consumption of each input trajectory function and presented the results in numerical and graphical formats. The study concluded that the input trajectory function has a significant impact on the energy consumption of the robot. The step function was found to be the simplest to implement but caused the highest energy consumption. The study contributes to a better understanding of the impact of input trajectory functions on the energy consumption of robots controlled by impedance controllers. The findings could be beneficial in selecting the most energy-efficient trajectory function for a specific robot manipulation task.
... As outlined in reference [21], the calculation of the actuator torque pertaining to the i-th joint can be achieved by means of Equation (4). Equation (5) characterizes the acceleration-related symmetric matrix, which has been elucidated in previous works [21,22]. is the impedance torque acting on the i-th joint. ...
... As outlined in reference [21], the calculation of the actuator torque pertaining to the i-th joint can be achieved by means of Equation (4). Equation (5) characterizes the acceleration-related symmetric matrix, which has been elucidated in previous works [21,22]. is the impedance torque acting on the i-th joint. The velocity matrix, denoted as , is a mathematical representation of the velocity of the i-th body with respect to the j-th joint angle, which is commonly denoted as . ...
... Equation (5) employs the trace operator, which is a mathematical tool commonly used in linear algebra to compute the sum of diagonal elements of a matrix. This operator is denoted as Tr and has been previously described in literature by Fu et al. [21] and Weisstein [23]. The formal definition of the trace operator is provided in Equation (8), which presents a concise mathematical representation of the operator. ...
This study investigates the energy consumption of different input trajectory functions on a 3 degree-of-freedom (DOF) robot controlled by impedance controller. Industrial applications of robot manipulators, such as painting, often require only arm position control. However, in situations where obstacles may be present between the robot and the environment, the robot needs to avoid causing harm to itself and other entities. Impedance control allows for the dynamic relationship between the robot and the environment to be controlled. The force applied by the robot to the environment depends on the position of the robot endpoint and the corresponding impedance. The input trajectory function used in impedance control affects the interaction distance of the impedance force and thus the interaction force and torques in the joints. Therefore, it directly affects the energy consumption of the robot. To optimize the impedance controller parameters, the Bees Algorithm was employed to minimize positioning errors for three input trajectory functions: step, ramp, and polynomial. The energy consumption of each input trajectory function was compared, and the results were presented numerically and graphically. The study found that the input trajectory function had a significant impact on the energy consumption of the robot. The advantages and disadvantages of each trajectory function were also discussed. The step function was found to have the simplest implementation, but it caused the highest energy consumption. Overall, this study contributes to the understanding of how input trajectory functions affect the energy consumption of robots controlled by impedance controllers. The findings can be useful for selecting the most energy-efficient trajectory function for a given robot manipulation task.
... As per the methodology explained in reference [21], the computation of actuator torque related to the i-th joint can be achieved through Equation (4). The acceleration-related symmetric matrix is described in Equation (5), and its characteristics have been elucidated in prior studies [20,21]. ...
... As per the methodology explained in reference [21], the computation of actuator torque related to the i-th joint can be achieved through Equation (4). The acceleration-related symmetric matrix is described in Equation (5), and its characteristics have been elucidated in prior studies [20,21]. represents the impedance torque that acts on the i-th joint. ...
... In Equation (5), the trace operator, which calculates the sum of the diagonal elements of a matrix, is utilized as a mathematical tool commonly employed in linear algebra. This operator is designated by the symbol Tr and its definition has been established in prior works by Fu et al. [21] and Weisstein [22]. The precise definition of the trace operator is presented in Equation (8), which provides a succinct mathematical representation of the operator. ...
This study aims to optimize the impedance control of a 3 degree-of-freedom (DOF) robot in various industrial applications, such as pushing, polishing, cleaning, and grinding. In these applications, the robot manipulator needs to interact with the environment to achieve the desired task, making it imperative to control the interaction between the robot and the environment. The impedance controller is an effective approach that regulates the dynamic relationship between the robot and the environment, which is crucial for performing these tasks accurately and efficiently. Unlike force/position hybrid controllers that have separate subspaces for force and position control, the proposed impedance controller aims to regulate the relationship between the force and the position of the end effector in contact with the environment. This approach ensures that the robot manipulator endpoint follows both the desired force profile and the desired position accurately. Additionally, the proposed method allows for planning a virtual trajectory to obtain a desired force profile when the environment has a rigid structure with known properties. To optimize the proposed impedance controller, the Bees Algorithm was used. The numerical application results demonstrate that the optimized impedance controller allows the robot manipulator endpoint to follow both the desired force profile and the desired position accurately, providing a practical solution for controlling the interaction between the robot manipulator and the environment in various industrial applications. The significance of this study lies in its potential to improve the performance of industrial robots in applications that require interaction with the environment. By using an optimized impedance controller, the robot can perform its task accurately and efficiently, reducing the risk of errors and improving productivity.
... Equations of motion for multibody systems can be rough-ly divided into two large classes in terms of their mathematical appearance or form: closed-form and recursive equations [24] . 1 In the closed form, also called a bulk form, dynamic equations of motion are written as a single vector differential equation containing all generalized coordinates. In the recursive form, all terms in the dynamic equations for generalized coordinates of one joint are presented as functions of generalized coordinates of neighboring joint. ...
... The attractive advantages of the recursive formulation are its computational efficiency and the ease of coding. The main disadvantage is the "distortion" of the structure of the dynamic model to the form that excludes the possibility of gaining the insight into the dynamics of the system and exploiting it efficiently [24]. However, some recursive formulations do not have this shortcoming and still allow to gain insight into dynamics [33,48]. ...
... In this paper, the distal version of the D-H convention is utilized. This means that the i-th local frame is attached to the distal end of the link i [24], and a joint i is located at the proximal end of the same link. Alternatively, the same local frame can be attached to the proximal end of the link [12]. ...
We present a first-order recursive approach to sensitivity analysis based on the application of the direct differentiation method to the inverse Lagrangian dynamics of rigid multibody systems. Our method is simple and efficient and is characterized by the following features. Firstly, it describes the kinematics of multibody systems using branch connectivity graphs and joint-branch connectivity matrices. For most mechanical systems with an open-tree kinematic structure, this method turns out to be more efficient compared to other kinematic descriptions employing joint or link connectivity graphs. Secondly, a recursive sensitivity analysis is presented for a dynamic system with an open-tree kinematic structure and inverse dynamic equations described in terms of the Lagrangian formalism. Thirdly, known approaches to recursive inverse dynamic and sensitivity analyses are modified to include dynamic systems with external forces and torques acting simultaneously at all joints. Finally, the proposed method for sensitivity analysis is easy to implement and computationally efficient. It can be utilized to evaluate the derivatives of the dynamic equations of multibody systems in gradient-based optimization algorithms. It also allows less experienced users to perform sensitivity analyses using the power of high-level programming languages such as MATLAB. To illustrate the method, simulation results for a human body model are discussed. The shortcomings of the method and possible directions for future work are outlined.
... Several methods exist for studying the kinematics of planar and spatial mechanisms, including geometric (triangle), coordinate, matrix, and vector methods. The matrix transformation method [12,13,14] is widely employed in this context. This method utilizes rotation matrices (3x3) and translation matrices (3x3) to account for the various types and classes of kinematic pairs. ...
... To consider the translational motion of a coupled coordinate system, a homogeneous transformation matrix (4x4) is utilized in place of the rotation matrix [12,14]. Denavit and Hartenberg [13] were pioneers in utilizing matrix representation to describe the spatial geometry of manipulators. The application of screw calculus methods has proven highly effective in studying the statics, kinematics, and dynamics of parallel structure manipulators [15,16,17]. ...
In wheeled vehicles, there exists a challenge concerning the alignment of the front wheels during turns. When both wheels are turned to the same extent, the inner wheel experiences lateral slippage on the road surface, resulting in reduced steering efficiency. Such problems can be solved by using the Ackermann principle. There are two approaches: through the steering mechanism or by employing autonomous wheel control. From a technical standpoint, it is achievable to synthesize a steering mechanism that fulfills the Ackermann condition, ensuring as accurately as possible for any given turning radius. This research paper focuses on synthesizing a steering mechanism, specifically a two-circuit linkage that links the left and right wheels. The structure and kinematics of this mechanism are being investigated. Following the principles of Ackermann, an objective function for the kinematic synthesis of the mechanism has been formulated. The synthesis process of the mechanism is conducted using the analytical method of interpolation in four parameters. A dedicated method has been developed, and kinematic analysis of the mechanism using the synthesized parameters has been performed. The simulation results have demonstrated high accuracy in achieving the desired implementation of the Ackermann condition.
... In general, a spline is a polynomial of a degree k with continuity of derivative of order k-1, at the interpolation points. Low-degree polynomials reduce the effort of computations and the possibility of numerical instability [11] . On the other hand, higher-order polynomials enable the control of other variables such as angular acceleration and jerk. ...
... Upon substituting for armature current i from Equation (10) into Equation (11), yields: ...
Objective: One of the important objectives in industrial applications is minimizing the consumed energy due to the unsecured supply lines because of the international crisis and the sudden increase in the prices of the crude oil as well. It is the objective of this research to investigate the effect of jerk and the minimum energy consumption per cycle of the manipulator's actuators on the optimal trajectory of industrial manipulator. Methods: The design for optimal trajectory for industrial robots has a primary importance in attaining mass production with accurate performance. Optimal trajectory can be designed from start to goal positions to achieve certain criterion optimally such as minimum time, minimum distance and / or minimum energy consumption while avoiding obstacles during the course of motion. Results: The proposed analysis will consider also the jerk which is the time derivative of the acceleration to guarantee that the end-effector will not vibrate at the start and goal of each stroke. A polynomial of seven-degree is proposed to investigate how the jerk affects the optimality of the trajectory and the torques of the joints as well. Conclusion: From the presented parametric study and analysis, it is recommended to apply energy per cycle as a criterion for minimum kinetic energy of an industrial manipulator trajectory in spatial manoeuvring.
... In this, the robots were introduced as machines that resemble people, but work tirelessly. But the early work leading to today's industrial robots can be traced back to the late 1940s, just after World War II, when research programs were started at the Oak Ridge and Argonne National Laboratories to develop remotely controlled mechanical manipulators for handling radioactive materials [14]. ...
... The rationale behind integrating robots lies in the need to optimize the Operation & Maintenance (O&M) costs, with labor costs accounting for 50% of the overall O&M expenses in NPPs. The historical context of using robots in hazardous environments, dating back to the late 1940s, serves as a testament to the long-standing interest in leveraging automation for mitigating risks associated with nuclear facilities [14]. ...
This review paper addresses the escalating operation and maintenance costs of nuclear power plants, primarily attributed to rising labor costs and intensified competition from renewable energy sources. The paper proposes a paradigm shift towards a technology-centric approach, leveraging mobile and automated robots for physical security, aiming to replace labor-intensive methods. Focusing on the human–robot interaction principle, the review conducts a state-of-the-art analysis of dog robots’ potential in infrastructure security and remote inspection within human–robot shared environments. Additionally, this paper surveys research on the capabilities of mobile robots, exploring their applications in various industries, including disaster response, exploration, surveillance, and environmental conservation. This study emphasizes the crucial role of autonomous mobility and manipulation in robots for diverse tasks, and discusses the formalization of problems, performance assessment criteria, and operational capabilities. It provides a comprehensive comparison of three prominent robotic platforms (SPOT, Ghost Robotics, and ANYmal Robotics) across various parameters, shedding light on their suitability for different applications. This review culminates in a research roadmap, delineating experiments and parameters for assessing dog robots’ performance in safeguarding nuclear power plants, offering a structured approach for future research endeavors.
... IK is an essential part of trajectory planning to perform various tasks in the manufacturing industry. A detailed study of robot kinematics is explained in (Fu et al., 1987). There exist two methods to solve IK, analytical and numerical. ...
... If the first three joint angles are known ,we can compute T 3 0 which will be used to find last three joints. Using the same geometric and algebraic techniques that (Fu et al., 1987; C. S. G. Lee, 1982) demonstrated for determining the joint angles * , + , , of the 3R wrist, we determined the joint angles of the 3R wrist (E. Neha et. ...
... The path was arbitrarily placed in the manipulator workspace ( Fig. 1), and 8 nodal points were chosen to form a 7-segment path. For determination of 3 joint trajectories corresponding to the 3D path a polynomial of degree 5 for each segment of the path was created [3]. For an ith segment (assuming normalized time 0t1) each joint coordinate was determined according to formula (1). ...
... In this analysis application of inverse dynamics was assumed for that purpose. For the considered manipulator frame simplified dynamic equations of motion (DEMs) were determined with the use of Lagrange's method [3]. The general form of the DEMs is given by formula (9). ...
The paper concerns problems of selection of drive train components of mechatronic positioning devices. Technique of numerical simulation was applied in the reported analysis. The aim of the analysis was to formulate premises for supporting model-based algorithmic selection of gearboxes of manipulators during their design process. A sample manipulator of anthropomorphic kinematic structure (3R) was considered. For the standard pick-and-place type path, simulation of motion of the manipulator equipped with the 3 types of gearboxes (planetary, harmonic, cycloidal) was carried out. Inverse dynamic analysis was used in determination of driving moments' courses. Parameters used in the comparison of the gearboxes' performance comprised: driving moment, instantaneous power, energy consumption and cycle time.
... In recent decades, parallel manipulators have become the subject of study for an increasing number of researchers [1][2][3]. According to some authors [4], serial manipulators have already reached their dynamic performance limits. ...
This paper examines the influence of the eight assembling modes of the 3-RRR planar manipulator on its workspace. The workspace is analyzed considering both first-type and second-type singularities. Understanding these issues is crucial in the process of designing such manipulators to avoid unfavorable cases. Additionally, a modular platform concept, suitable for experimental testing and informed by the numerical results presented here, is proposed. The outcomes of the experimental tests will be addressed in future work.
... With the known values of position and orientation of hip and foot at any instant during gait, each joint angle ( i ) of the biped robot is obtained by solving the inverse kinematics by using a geometrical method (Craig 2005), then joint velocity ( ̇i ) and joint acceleration ( ̈i ) are computed numerically. Recursive Newton-Euler (Fu et al. 1987) gives the joints torque, which is used to calculate the energy expenditure for traversing one step of a walk. Computation of Zero moment point (ZMP) (VUKOBRATOVIĆ and BOROVAC 2004) is given by: ...
This article presents a new global path planning method between the initial and goal location for a 14-DOF biped robot on uneven terrain scattered with obstacles. The desired global path is generated by searching the optimal position of the via points on rough terrain. The global pathfinding problem is formulated as an optimization problem by minimizing a path integral over a scalar field called an interpolant uneven terrain energy field (UTEF) function. The global path that is searched is parametrized in terms of via points, and the optimal position of via points is obtained by optimization using a genetic algorithm (GA). The UTEF is defined numerically at discretized terrain nodes using the biped robot’s dynamics. Mathematically UTEF incorporates the biped robot’s local dynamics at discretized terrain nodes. It is found that the dynamics-based path is more optimal in the sense of path length, stability(passing through safer regions), and closeness to the obstacles. The effectiveness of the proposed global pathfinding method is demonstrated by several numerical experiments in MATLAB, showing the usefulness of the proposed path-planning scheme.
... By optimizing the data transmission process and leveraging powerful design tools, our virtual environment provides a robust and responsive platform for users to interact with the haptic interface and the virtual robot, enhancing both immersion and operational efficiency. To ensure that the virtual robot behaves identically to the real robot, we employed the direct geometric model, developed using the Denavit-Hartenberg method [29]. ...
Programming RRR-type serial arm robots, especially for pick-and-place tasks, is time-consuming and intricate, often requiring the robots' temporary removal from service for programming and testing. This study proposes a haptic interface replicating the mechanical structure of RRR-type robots, integrating position sensors and stepper motors at each joint. This interface communicates with a virtual environment governed by the robot's mathematical model and task space data, allowing users to intuitively manipulate the virtual robot and record trajectories. Operational safety is ensured through joint locking to prevent collisions and avoid singular points. Comparative evaluations show significant reductions in computation time and enhanced learning efficiency compared to traditional methods. The evaluation includes measuring task completion times, demonstrates faster task accomplishment with the haptic interface. Beyond streamlining robotic arm programming, the approach prioritizes user-friendliness and operational efficiency, validated through experiments on both lab platforms and real robots. Additionally, the System Usability Scale (SUS) was employed to assess user satisfaction, with results indicating high user approval. These findings underscore the effectiveness of the haptic interface in advancing robotic trajectory learning and its potential for broader applications in robotics research and development.
... By optimizing the data transmission process and leveraging powerful design tools, our virtual environment provides a robust and responsive platform for users to interact with the haptic interface and the virtual robot, enhancing both immersion and operational efficiency. To ensure that the virtual robot behaves identically to the real robot, we employed the direct geometric model, developed using the Denavit-Hartenberg method [29]. ...
... rad are utilized to compute arm joint angles at a given time. The Lagrange-Euler formulation [12] is used to compute torque as τ i = n c=1 D icqc + n c=1 n d=1 h icdqcqd + C i . D ic , h icd and C i represent inertia, The zero moment point (ZMP) [34] is the location on the ground where the total moments acting on the robot's body are balanced. ...
... A grayscale image is a data matrix whose values represent intensities within range (0-255). The equation converting RGB values to grayscale values by forming a weighted sum of the R, G, and B components is given by [15] : ...
... As a result, in the case of these mechanical structures, the Gibbs-Appell starting equations will have a particular case of application. According to [27,28], the dynamic study of mechanical systems is based on the principle of D'Alemebert and on Lagrange's equations of the second kind, specific to conservative and non-conservative mechanical systems. The paper proposes an alternative to the principles mentioned above, by using the Gibbs-Appell formalism as starting equations. ...
... The and matrices are obtained by optimizing according to the type and the mass moments of inertia of the robot. The generalized torque equation applied to the degrees of freedom of a robot is shown in Equation (4) [23,24]. ...
In this research, our focus was on identifying optimal control techniques for minimizing energy consumption in kinematically redundant robots with varying mass moment of inertia ratios. We conducted simulations and proposed recommendations, comparing the energy consumption of trajectories derived from Jacobian transpose-based inverse kinematics analysis against those obtained through impedance control in kinematically redundant robots. The Jacobian transpose-based method involved acquiring intermediate positions using a time-based cubic polynomial function. Both methods considered the mass moment of inertia of the linkages as variables in four distinct cases. Our study centred on a planar 4-degree-of-freedom (DOF) manipulator, and we performed co-simulations utilizing MATLAB Simulink and Adams software. The results of our investigation provide valuable insights into the choice of inverse kinematics methods based on energy consumption relative to the mass moment of inertia ratios of the linkages. Notably, as the mass moment of inertia ratios of the linkages increased, impedance control demonstrated lower energy consumption. Conversely, when these ratios approached parity, the Jacobian transpose-based inverse kinematics method exhibited superior energy efficiency. Remarkably, in instances favouring impedance control, we observed up to a 34% reduction in energy consumption compared to the Jacobian transpose-based method. This study contributes to the field by offering guidance on selecting the most suitable inverse kinematics approach for kinematically redundant robots, taking into account varying mass moment of inertia ratios. The findings pave the way for more energy-efficient control strategies in robotic systems, contributing to advancements in the broader domain of robotics and automation.
... By considering the rigid link dynamics with Lagrange-Euler formulation [35], one can derive the dynamic model for an n -DOF robot manipulator, in which its matrix form is described by (1): ...
A rapid recurrent neural network (RNN)-based physical feasibility test algorithm for base parameters during the identification process of a robot dynamic model is proposed in this paper. Firstly, related physical constraints such as inertia tensor, drive chain inertia, and friction are combined into the formulation of linear matrix inequality (LMI) to examine the physical consistency of the base parameters. The optimization problem of LMI is then solved by a matrix-oriented gradient-type RNN. Since the network structure of this type of RNN is simple and the process for solving the optimization problem of LMI is parallel distributed, the physical feasibility test can be completed more quickly than when utilizing commonly used semi-definite programming techniques. By taking advantage of highly efficient computation capabilities, the proposed physical feasibility test algorithm is particularly suitable for identification approaches that require rapid feasibility assessment such as on-line identification methods or optimization-based identification methods. An evolutionary algorithm-based identification method is used as an illustrative example to assess the performance of the proposed approach. In addition, a stability proof for the proposed gradient-type RNN is also provided. Results of the experiments conducted on a 6-DOF industrial robot manipulator verify the effectiveness of the proposed approach.
... According to the principle of lens imaging [37], which is shown in Figure 13, the distance between the lens and the rear-view mirror can be calculated using the world coordinates of this pair of images. In addition, edge detection is performed on the area within the recognized bus range. ...
Interest in advanced driver assistance systems (ADAS) is booming in recent years. One of the most effervescent ADAS features is blind spot detection (BSD), which uses radar sensors or cameras to detect vehicles in the blind spot area and alerts the driver to avoid a collision when changing lanes. However, this kind of BSD system fails to notify nearby vehicle drivers in this blind spot of the possible collision. The goal of this research is to design a proactive bus blind spot warning (PBSW) system that will immediately notify motorcyclists when they enter the blind spot or the area of the inner wheel difference of a target vehicle, i.e., a bus. This will increase the real-time functionality of BSD and can have a significant impact on enhancing motorcyclist safety. The proposed hardware is placed on the motorcycle and consists of a Raspberry Pi 3B+ and a dual-lens stereo camera. We use dual-lens cameras to capture and create stereoscopic images then transmit the images from the Raspberry Pi 3B+ to an Android phone via Wi-Fi and to a cloud server using a cellular network. At the cloud server, we use the YOLOv4 image recognition model to identify the position of the rear-view mirror of the bus and use the lens imaging principle to estimate the distance between the bus and the motorcyclist. Finally, the cloud server returns the estimated distance to the PBSW app on the Android phone. According to the received distance value, the app will display the visible area/blind spot, the area of the inner wheel difference of the bus, the position of the motorcyclist, and the estimated distance between the motorcycle and the bus. Hence, as soon as the motorcyclist enters the blind spot of the bus or the area of the inner wheel difference, the app will alert the motorcyclist immediately to enhance their real-time safety. We have evaluated this PBSW system implemented in real life. The results show that the average position accuracy of the rear-view mirror is 92.82%, the error rate of the estimated distance between the rear-view mirror and the dual-lens camera is lower than 0.2%, and the average round trip delay between the Android phone and the cloud server is about 0.5 s. To the best of our knowledge, this proposed system is one of few PBSW systems which can be applied in the real world to protect motorcyclists from the danger of entering the blind spot and the area of the inner wheel difference of the target vehicle in real time.
... Therefore, much attention has been focused on O(n) algorithms for inverse and forward dynamics [1][2][3][4][5][6][7][8]. The literature has reported that the combined identification and control algorithms can be implemented in O(n 3 ) time despite using recursive Newton-Euler (N-E) formulation [9,10]. Consequently, most researchers have given particular attention to the decoupled proportional-integral-derivative (PID) family controllers [11][12][13]. ...
Conventional virtual decomposition control (VDC) is a Newton–Euler formulation-based distributed adaptive control algorithm dealing with complex robotic systems. However, the VDC has the following characteristics. Firstly, the algorithm should be implemented recursively, assuming a known force/moment transformation matrix. Secondly, the local stability of each subsystem can be proved using the virtual power flow concept, which ensures the entire system’s stability. Therefore, this paper proposes a fully decentralized control algorithm as an alternative to the conventional VDC. The key idea is to design an estimator for the coupling interconnection term. In addition, this work avoids using the concept of virtual power flow as a constraint (condition) for proving the virtual stability of the individual subsystem. Adaptive approximation control is used as a basis for control architecture. Besides, the proposed controller is applicable to mixed open/closed-chain mechanisms. For a closed-chain mechanism subsystem, the problem is formulated as the minimization of the actuator torques with equality constraints (in the case of over-actuation). A direct solution is obtained for an open-chain subsystem. We present symbolic calculations for some robots with a kinematic loop to clarify the proposed modeling procedure. Simulations are performed for a 6-link biped robot with two kinematic chain configurations to investigate the proposed algorithm’s effectiveness. In addition, a comparative analysis is performed to prove the validity of the results.
... According to Figure 3, σ i (θ i , ξ i , t) are the vectors of ξ I on coordinate O i X i Y i and can be expressed as [39] ...
Flexible manipulator systems in specific applications such as space exploration, nuclear waste treatment, medical applications, etc., often have characteristics superior to conventional rigid manipulator systems. However, their elasticity and complex dynamics lead to difficulties encountered in control processes. Research on improving the structure of the control model plays a very important role in reducing the above limitations and achieving great benefits for the flexible manipulator system. In this study, a general method for modelling a flexible robotic manipulator is introduced. Furthermore, two control models for flexible manipulators are proposed. The first model uses two proportional–integral–derivative (PID) controllers, where the first one is used for position control, and the other is applied for vibration reduction. The second model is an enhanced development of the first with the addition of a fuzzy logic controller to optimise oscillation suppression. Selected experimental results are presented and compared to evaluate the performance of the proposed control mechanisms.
... The FK model for the articulated FANUC M-20iD/25 robot arm was developed using the traditional Denavit-Hartenberg approach [48]. It determines the coordinate systems in a systematic way through a sequence of transformations between them, described by homogeneous 4 × 4 transformation matrices. ...
This paper demonstrates the capabilities of three-dimensional (3D) LiDAR scanners in supporting a safe distance maintenance functionality in human–robot collaborative applications. The use of such sensors is severely under-utilised in collaborative work with heavy-duty robots. However, even with a relatively modest proprietary 3D sensor prototype, a respectable level of safety has been achieved, which should encourage the development of such applications in the future. Its associated intelligent control system (ICS) is presented, as well as the sensor’s technical characteristics. It acquires the positions of the robot and the human periodically, predicts their positions in the near future optionally, and adjusts the robot’s speed to keep its distance from the human above the protective separation distance. The main novelty is the possibility to load an instance of the robot programme into the ICS, which then precomputes the future position and pose of the robot. Higher accuracy and safety are provided, in comparison to traditional predictions from known real-time and near-past positions and poses. The use of a 3D LiDAR scanner in a speed and separation monitoring application and, particularly, its specific placing, are also innovative and advantageous. The system was validated by analysing videos taken by the reference validation camera visually, which confirmed its safe operation in reasonably limited ranges of robot and human speeds.
A transverse ledge climbing robot inspired by athletic locomotion is a customized robot aiming to travel through horizontal ledges in vertical walls. Due to the safety issue and complex configurations in graspable ledges such as horizontal, inclined ledges, and gaps between ledges, existing well-known vision-based navigation methods suffering from occlusion problems may not be applicable to this special kind of application. This study develops a force feedback-based motion planning strategy for the robot to explore and make feasible grasping actions as it continuously travels through reachable ledges. A contact force detection algorithm developed using a momentum observer approach is implemented to estimate the contact force between the robot’s exploring hand and the ledge. Then, to minimize the detection errors due to dynamic model uncertainties and noises, a time-varying threshold is integrated. When the estimated contact force exceeds the threshold value, the robot control system feeds the estimated force into the admittance controller to revise the joint motion trajectories for a smooth transition. To handle the scenario of gaps between ledges, several ledge-searching algorithms are developed to allow the robot to grasp the next target ledge and safely overcome the gap transition. The effectiveness of the proposed motion planning and searching strategy has been justified by simulation, where the four-link transverse climbing robot successfully navigates through a set of obstacle scenarios modeled to approximate the actual environment. The performance of the developed grasping ledge searching methods for various obstacle characteristics has been evaluated.
Position, velocity, and acceleration are called kinematics information. Rotational position analysis is the key to calculate kinematics of relatively moving rigid bodies. In this chapter, we review kinematics and show applied methods to calculate the relative kinematic information of rigid bodies. It is a necessary analysis to determine equations of motion of a vehicle expressed in body coordinate frame attached at the mass center of the vehicle. A vehicle will be treated as a moving rigid body in an inertia coordinate frame.
The interpolator is one of the critical components of contour control systems for industrial robots, which significantly affects their accuracy. In such technological tasks as welding, laser cutting, coating, and surfacing, in addition to the spatial accuracy of the robot’s end-effector, the accuracy of its velocity during motion along complex trajectories plays an important role. In this paper, we propose a new approach for solving the interpolation problem of a multi-axis industrial robot based on the В-splines. The proposed algorithms can be easily adapted for robots with any kinematics, generating the current, velocity, and position setpoints for the control loops of each of its actuators. А software implementation of the offline interpolator based on the proposed algorithms was developed and executed on В&R Industrial Automation GmbH industrial controllers. During the experimental studies performed on a manipulation robot with SCARA kinematic scheme, it was demonstrated that the developed algorithmic solutions outperform the standard interpolator of В&R industrial robot control systems, exceeding it up to 2 times in terms of spatial accuracy and up to 4 times in terms of root mean square velocity deviation. The maximum deviation of the tool’s velocity using the developed algorithms did not exceed 2.4 mm/s, comparable to the results of the most modern planar solutions based on NURBS curves. At the same time, unlike their planar analogs, the solutions proposed in this paper are suitable for multidimensional interpolation. In this part of the paper, we describe the algorithms of the developed multi-axis interpolator.
Вступ. Сучасні методи підготовки фахівців з розробки й експлуатації кіберфізичних систем передбачає використання навчальних стендів технологічних ліній і виробництв, котрі включають у склад свого обладнання маніпулятори. Застосування в стендах маніпуляторів зумовлює актуальність розробки відповідних методів керування. У статті досліджується модель маніпулятора, призначеного для захоплення та переміщення деталей на сортувальній фабриці. Рухи маніпулятора виконуються за допомогою реверсивних двигунів постійного струму 24 В з фіксованою швидкістю. Враховуючи особливості конструкції фабрики та обладнання, маніпулятор не може виконувати складні рухи кількома кінематичними парами одночасно. Для вирішення цієї проблеми використовується послідовний підхід до переміщення деталей. Розглядаються операції з прямого й зворотного переміщення деталей у системах координат під час роботи на сортувальній фабриці. Розглядаються алгоритми повного переміщення деталей та вимоги до безпечного обертання несучої конструкції маніпулятора. Результати дослідження можуть бути корисними для розробки кіберфізичних систем управління маніпуляторами в промислових середовищах.
Design and implementation of a robotic vision system capable of efficiently manuscript scanning and recognition. To scan manuscripts and recognize manuscript components, the robotic system aims at using cutting-edge machine vision techniques. The robotic system is connected to an ontology-based manuscript editor, where the scanned text is automatically stored in. This ground-breaking method aims at effectively scanning and preserving handwritten textual resources so that scholars and researchers can access and study manuscripts in fully annotated format. As the proposed robotic system will be constructed using a 3D printer, its low weight and cost provide portability and reconfigurability with respect to the shape and the dimensions of the manuscript.
This chapter introduces you to the world of computer animation, which is essential to show virtual worlds that change over time. The main motion control methods are explained, including motion capture, keyframe animation, inverse kinematics, physics-based animation, and behavioral animation.
A crescente população e número de veículos nas grandes cidades têm gerado congestionamentos e complicações no trânsito, cujas soluções são dispendiosas e ineficazes a longo prazo. Para melhorar as condições do tráfego urbano, incluindo a automatização do sistema de semáforos através da tecnologia de visão computacional, o monitoramento inteligente do tráfego tem sido buscado. Este estudo teve como objetivo desenvolver um sistema automatizado e síncrono de análise de tráfego, comparando o desempenho de diferentes algoritmos de subtração de fundo (BGS). Foi criado um software para analisar os algoritmos BGS em termos de contagem de veículos, registro e sentido de direção, enquanto outro foi desenvolvido para detectar pedestres. A revisão sistemática da literatura de artigos publicados entre 01/01/1970 e 31/01/2023 demonstrou que o uso exclusivo do BGS não é suficientemente preciso para aplicação em sistemas de semáforos ou monitoramento autônomo. No entanto, a combinação do BGS com aprendizado de máquina e aprendizado profundo é promissora. Para aprimorar a precisão e outras métricas, como falsos e verdadeiros positivos, é necessário melhorar os filtros individuais e combiná-los com outras tecnologias.
Proteinuria is a broad term used to describe protein in the urine. It is a general term for the presence of proteins, including albumin, globulin, Bence-Jones protein, and mucoprotein in the urine. Almost half of the protein lost in normal urine is derived from the distal tubule, known as Tamm-Horsfall glycoprotein (THG). Persistent proteinuria is a marker of kidney damage.
During 2022 year in the department of medical biochemistry in PHO Clinical Hospital dr. Trifun Panovski in Bitola, North Macedonia we made 60 tests for detection proteinuria in urine using analyzer Abbot Alinity CI. We detected 37 healthy subjects and 23 positive tests.
We analyzed positive results and we concluded that six of positive patients were males age 34 to 72 years old with median age 46.5. Concentration of proteinuria in samples was 1169 to 3556 with median of 2577. Seventeen positive proteinuria samples were in females, their age was 38 to 74 year with median’s 66 years, and their concentration of of proteinuria was 317 to 7102 with medians 790.
We can notice that male’s patients were younger than females, as for concentration of anti HCV antibody they were no differences in medians.
The primary etiology of proteinuria is the disturbance in the kidney filter. In addition to its association with early renal disease, it is also seen in benign conditions. Proteinuria can serve as an indicator of early renal disease. It marks an increased risk of renal damage secondary to hypertension and cardiovascular disease. The degree of proteinuria correlates with disease progression.
Keywords: proteinuria, Bitola, kidney damage
By issuing this updated paper on Afghanistan’s Gemstones and Jewellery Sector, we seek to introduce institutional clarity, suggest reforms to the governance arrangements and plans for the Afghan gemstone and jewellery industry, and expand the range and value of gems and jewellery products produced and processed within Afghanistan. And suggests the Afghanistan government to sets out reforms and establish the infrastructure to formalize the sector and positively influence the gemstone sector value-chain from mines to markets. And develop policies to distinguish between “upstream” (mining) and “downstream” (processing and manufacturing) and help to solve gemstone present barriers to support the growth of both sub-sectors, also develop the specific policy objectives, and policy responses they require, and set-up key roles for industry and stakeholders to well-sequence the value added or value chain development for the sector.
KEYWORDS
(1) Generate employment; (2) Improve gemstone conditions (3) Increase value added (4) Increase government revenues; and (5) Improve production and marketing.
To achieve these objectives, we suggest the Afghanistan Government to intends the development of Afghanistan’s gemstone resources to (1) Designed and secure the maximum benefit for its citizens, through increased gemstone cutting and polishing, with resources being used primarily to promote sustained economic growth for both Afghan men and women, (2) Based on free-market competition, including eliminating as far as possible the smuggling of gemstone mineral products, to secure value, fairness, and integrity, and (3) Develop laws, rules, and regulations that are simple, clear, understandable, and fairly enforced with simple procedures and design training that will help lead to greater security of tenure, less illegal mining activities, and less corruption.
The mobile phone market in the world has become a marketing that speaks for itself. One of the main factors showing this is that each new device entering the market causes special interest from the society. Despite many brands copying each other, it's incredible how each device generates so much interest when it's introduced. The main reason revealed here is people's excessive interest in technology. Mainly, the fact that the younger generation dominates in that category is a well-known fact. Recently, even middle-aged and elderly people are following this trend.
What are the main reasons why many well-known companies are successful in this way? What are the key fundamental characteristics of mobile companies competing for market share? What are the main features that separate the smartphone market from other markets? It is possible to see that they are mainly composed of 3 parts when we go down to the depths. First, it can be shown that it is measurable. Secondly, it is necessary to mention customer satisfaction. Finally, the importance of companies being innovative stands out.
Although death is considered as a state of separation from the world in which it is lived for a person whose life ends physically, in most geography, it is seen as a new and different beginning from the point of view of relatives of a person who has died. This situation has led to the creation of traditional implementations for death and afterwards in almost every culture. These implementations, which are defined as condolences, have different characteristics according to each society and culture.
The subject of this study is the change in condolence rituals that continue to exist in the social sphere due to the restrictions experienced during the COVID 19 pandemic. In the study, how the condolence rituals that were not applied physically during the pandemic period took place in Turkey/Van province and what the people participated in the condolences experienced as a result of this change were discussed. It was concluded that despite restrictions in the pandemic process, condolence rituals are tried to be continued through social media and they
have a function as a buffer institution for people’s lives.
The current stage of development of market relations in Azerbaijan increases the demand for information support in the management of business processes. Accounting and financial reporting are important as the main elements of information support. However, reporting indicators obtained on the basis of accounting data may not always be sufficiently complete and reliable. The legal legislation regulating accounting and reporting in service enterprises is mainly focused on the goals and tasks of tax accounting and tax reporting. As it is known, financial statements are submitted to the enterprise that will provide financial means in order to attract investment to the service enterprises, currently, business entities prepare individual reports for these purposes. However, in order to attract bank capital to service subjects, high-quality financial reports reflecting the real economic situation of the enterprise are needed. The indicators of tax reports do not meet the requirements of credit institutions.
There is a great need to improve the quality of accounting and reporting in service enterprises in the market economy. The demand for the financial status and financial results of service subjects by internal and external users creates a need for methodological development in the direction of improving the quality of accounting and reporting of the enterprise. The main research object of the dissertation is the methodological support for the application of financial statements in service enterprises in accordance with national legislation and international standards and the shortcomings in solving the problem.
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