Differential-Difference Equations. By Richard Bellman and Kenneth L. Cooke. Pp. xvi, 465. 1963. (Academic Press)

A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

http://ieeexplore.ieee.org/iel2/815/3148/00100651.pdf

Robot vision

[서평]「The Unified Modeling Language User Guide」

Summary) The abstract should follow the structure of the article (relevance, degree of exploration of the problem, the goal, the main results, conclusion) and characterize the theoretical and practical significance of the study results. The abstract should not contain wording echoing the title, cumbersome grammatical structures and abbreviations. The text should be written in scientific style. The volume of abstracts (summaries) depends on the content of the article, but should not be less than 250 words. All abbreviations must be disclosed in the summary (in spite of the fact that they will be disclosed in the main text of the article), references to the numbers of publications from reference list should not be made. The sentences of the abstract should constitute an integral text, which can be made by use of the words “consequently”, “for example”, “as a result”. Avoid the use of unnecessary introductory phrases (eg, “the author of the article considers...”, “The article presents...” and so on.)

/pdf/ministry-of-education-and-science-of-the-russian-federation-7m2jn0xnm1.pdf

Ministry of Education and Science of the Russian Federation

Dynamic analysis of flexible manipulators, a literature review

Integrating an anti-collision system based on laser Time-Of-Flight sensor in an industrial robot controller

The control of the load position in an elastic servo positioning system is addressed. Compliant with a design constraint common in industrial robotics and the machine tool industry, this study assumes that the motor position only is measured. LQG methods are used to observe and feedback the whole state of the system. Particular attention is devoted to some practical issues such as the role and tuning of an integral action and of feedforward filters for setpoint tracking, and the choice of the weights for LQ design. Experimental comparison to state of the art PID design is discussed.

LQG control of elastic servomechanisms based on motor position measurements

In this paper a detailed mechatronic model of SPIDER, the Italian space manipulator arm, is presented. The model is based on the open source modeling language Modelica. Thanks to the distinctive features of this language, like object orientation, physical and acausal modeling, symbolic handling of equations and constraints, the overall model of SPIDER is obtained by assembling few models of its components, all written in a fairly natural way. Remarkably simple is the modeling of contact operations against a perfectly rigid environment.

/pdf/object-oriented-modeling-of-a-space-robotic-manipulator-9subzpif8j.pdf

Object Oriented Modeling of a Space Robotic Manipulator

A remote interface for simulating robots via the Internet is presented. This environment is dedicated to simulations of robotic arms whose models are written in some descriptive language like Modelica. The actual application runs on robot models compiled by Dymola. This work has been developed within a project whose purpose is the Modelica/Dymola implementation of models of space robots and servomechanisms, and their dissemination to partner firms and to the scientific community. The remote simulation environment has been tested with a model of the Spider robotic arm.

/pdf/a-remote-user-interface-to-modelica-robot-models-2bxlpfzgze.pdf

A Remote User Interface to Modelica Robot Models

Collaborative robotics is a new production paradigm for manufacturing systems. Typical applications are collaborative assemblies, requiring humans and robots to share a common space to accomplish common tasks. This imposes to predict the actions of humans and consequently control the robot in a safe way, making the time required for completing a task non deterministic as the robot could be forced to be slowed down in unpredictable ways. Moreover, the uncontrollable nature of the human mate as well as the intrinsic variability of humans completion times introduce other sources of uncertainty to account for. This work aims at proposing a novel fuzzy scheduling approach for managing in an optimal way the uncertainties arising in collaborative assemblies. Realistic experiments, involving the assembly of two products, are performed using the dual arm robot YuMi of ABB.

Paolo Rocco

Papers

Integrating an anti-collision system based on laser Time-Of-Flight sensor in an industrial robot controller

LQG control of elastic servomechanisms based on motor position measurements

Object Oriented Modeling of a Space Robotic Manipulator

A Remote User Interface to Modelica Robot Models

Task scheduling for human-robot collaboration with uncertain duration of tasks: a fuzzy approach