1,721,164 research outputs found
PRIN 2009 - ROCOCO'
No full textIn the framework of the research problems related to the adoption of multi-robot cooperative and collaborative systems, this research program is aimed at achieving significant advancements in the field of the control of such systems
Realizzazione di un’installazione sperimentale per la robotica cooperante basata su ROSED
No full textRealizzazione di un’installazione sperimentale per la robotica cooperante basata sulla cella ROSED del centro ASI di Mater
FP7-SAPHARI
No full textRecent progress in physical Human-Robot Interaction (pHRI) showed that active and safe workspace sharing becomes possible in principle. Inspired by these results, SAPHARI will perform a fundamental paradigm shift
in robot development in the sense that we place the human as the centre of the entire design. We address
all essential aspects of safe, intuitive physical interaction between humans and complex, human-like robotic systems in a strongly interconnected manner. While encompassing safety issues based on biomechanical analysis, human-friendly hardware design, and interaction control strategies, the project will develop and validate perceptive and cognitive key components that enable robots to track, understand and predict human motions
in a weakly structured dynamic environment in real-time. Apart from developing the necessary capabilities for interactive autonomy, we will tightly incorporate the human safety also at the cognitive level. This will enable
the robots to react or physically interact with humans in a safe and autonomous way. Biomechanical knowledge and biologically motivated variable compliance actuators will be used to design bimanual manipulation systems close to human properties and performance. Planning motions and tasks of such complex systems in real-time require new concepts, including tight coupling of control and planning, that lead to new reactive action generation behaviours. Moreover, self explaining interaction and communication frameworks will be developed to enhance the system usability. The project focuses on two industrial use cases that explicitly require contacts and force exchange in human-robot co-work, as well as on professional service scenarios in hospitals, in which a medical staff and an assisting robot interact closely during daily work. Results of this project are expected to strongly impact all applications where interactive robots can assist humans and release them from dangerous or routine tasks
A simple control strategy for a robot cart
No full textSeveral works have studied the problem of open-loop motion planning. Strategies have been proposed aimed at finding a bounded sequence of inputs to steer the cart from any initial position to any other arbitrary configuration. In this paper, a simple control strategy for steering a mobile robot cart of unicycle type around a target point is presented
Fault Diagnosis And Fault Tolerance For Mechatronic Systems: Recent Advances
No full textThe book reports an extended version of the lectures given by distinguished scholars at the workshop "Fault diagnosis and fault tolerance for dynamic systems" held in conjunction with the 2002 IEEE International Symposium on Intelligent Control in Vancouver, Canada, from 27-30 October 2002. The book collects some of the most recent results in fault diagnosis and fault tolerant systems with particular emphasis on mechatronic systems. Each chapter focuses on either theoretical aspects or applications to different fields of interest in mechatronics such as industrial robotics, underwater vehicles, hydraulic systems, and flight control
Six-degree-of-freedom impedance robot control
No full textThis work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configuration-independent desired impedance. For given contact force and moment, an impedance control scheme is proposed acting on both translational displacements and rotational displacements where end-effector orientation is described using a singularity-free representation in terms of a unitary quaternion. Experimental results on an industrial robot with open control architecture are presented
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