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

Handling liquids with spilling avoidance is a topic of interest for a broad range of fields, both in industry and in service robotic applications In this paper we present a new control architecture for motion planning of industrial robots, able to tackle the problem of liquid transfer with sloshing control We do not focus on a complete sloshing suppression, but we show how to enforce an anti spilling constraint This less conservative approach allows to impose higher accelerations, reducing motion time A constraint-based approach, amenable to an Online implementation, has been developed The proposed controller generates trajectories in real time, in order to follow a reference path, while being compliant to the spilling avoidance constraint The approach has been validated on a 6 degree of freedom industrial ABB robot

Robotic Handling of Liquids with Spilling Avoidance: A Constraint-Based Control Approach

A combined methodology, based on dynamic modeling and experimental measures, is used to study the vibrations in hard disk drives, in a frequency range up to 1 kHz. A lumped parameter model of the disks/spindle assembly is developed, where only the disk modes coupled with the spindle motion are retained. The proposed model has been validated by comparison with experimental results. Using the model, the sources of axial and radial vibrations measured in a single plate commercial hard disk drive have been explained. Among them are the disk structural resonances, due to compliances in bearings and disks, displacements of the center of mass from the rotation axis and unbalanced magnetic forces. On the other hand, no evidence has been found of the influence of torque disturbances on the measured vibrations.

Modeling and experimental analysis of the vibrations in hard disk drives

Permanent magnet AC motors generate parasitic torque pulsations, owing to several electromagnetic phenomena. Excitation of the mechanical resonances on the load side is generally the worst consequence of these disturbances. Speed oscillations arise which may dramatically limit the performances in high precision applications. In the paper a control scheme which autonomously identifies the parameters of the disturbance model, through simple closed loop motion experiments, is outlined. Experiments carried out on an industrial robot demonstrate the effectiveness of the control scheme in suppressing oscillations, both on the motor and on the load side.

Compensation of motor torque disturbances in industrial robots

Permanent magnet linear synchronous motors are gaining increasing interest as direct-drive actuators for machine tools and production machines, whenever high dynamic performance are required. Control bandwidth limitations due to compliance in transmission elements are in fact eliminated. Like their rotational counterparts, these motors are however affected by a ripple, in the form of parasitic and undesired force pulsations. In this paper a force disturbance observer is used to compensate for force ripple in a two-head linear motor assembled to serve as the actuator for a two degrees of freedom parallel kinematic machine. Experimental and numerical results support the models and the analysis.

Force ripple compensation in linear motors with application to a parallel kinematic machine

In this paper, we approach the problem of ensuring safety requirements within human-robot collaborative scenarios. The safety requirements considered herein are consistent with the paradigm of speed and separation monitoring. In such a setup, safety guarantees for human operators usually imply limited robot velocities and/or significant distance margins, which in turn may have adverse effects regarding the productivity of the robot. In this paper, we propose a novel approach that minimally affects the productivity while being consistent with such a safety prescription. A comprehensive simulation study shows that our method outperforms the current state of the art algorithm.

Paolo Rocco

Papers

Robotic Handling of Liquids with Spilling Avoidance: A Constraint-Based Control Approach

Modeling and experimental analysis of the vibrations in hard disk drives

Compensation of motor torque disturbances in industrial robots

Force ripple compensation in linear motors with application to a parallel kinematic machine

Towards the Exact Solution for Speed and Separation Monitoring for Improved Human-Robot Collaboration