Suchergebnisse

© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works." Upon publication, authors are asked to include either a link to the abstract of the published article in IEEE Xplore®, or the article's Digital Object Identifier (DOI). ; This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors. ; This work was supported in part by research under Project DPI2011-27845-C02-01 (Spanish Government), Projects PAID-05-11-2640, and PAID-00-12-SP20120159, (Universitat Politecnica de Valencia, Spain), and Projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361, and UNLP I164 in Argentina. Recommended by Associate Editor M. Zefran. ; Gracia Calandin, LI.; Garelli, F.; Sala, A. (2013). Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems. IEEE Transactions on Control Systems Technology. 21(6):2391-2399. https://doi.org/10.1109/TCST.2012.2231866 ; S ; 2391 ; 2399 ; 21 ; 6

An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential field-based approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated. ; This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2011-27845-C02-01 of the Spanish Government (Spain), Technical University of Valencia (Spain), and the Argentinian Government (UNLP 11I127, CONICET PIP 112-200801-0, ANPCyT PICT 2007 00535). ; Gracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A supervisory loop approach to fulfill workspace constraints in redundant robots. Robotics and Autonomous Systems. 60(1):1-15. https://doi.org/10.1016/j.robot.2011.07.008 ; S ; 1 ; 15 ; 60 ; 1

This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations. ; This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2011-27845-C02-01 of the Spanish Government (Spain), research project PAID-05-11-2640 of the Technical University of Valencia (Spain), and the Argentinian Government (UNLP 11I127, CONICET PIP 112-200801-0, ANPCyT PICT 2007 00535). ; Gracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A path conditioning method with trap avoidance. Robotics and Autonomous Systems. 60(6):862-873. https://doi.org/10.1016/j.robot.2012.01.009 ; S ; 862 ; 873 ; 60 ; 6

In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higherpriority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively. ; This work was supported in part by research under Project DPI2011-27845-C02-01 of the Spanish Government and Projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361 and UNLP 1164 in Argentina. ; Gracia Calandin, LI.; Sala Piqueras, A.; Garelli, F. (2014). Robot coordination using task-priority and sliding-mode techniques. Robotics and Computer-Integrated Manufacturing. 30(1):74-89. https://doi.org/10.1016/j.rcim.2013.08.003 ; S ; 74 ; 89 ; 30 ; 1

An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in order to fulfill velocity, workspace and C-space constraints, respectively. The proposed method only requires a few program lines and simplifies the robot user interface since it directly deals with the fulfillment of the constraints to find a feasible solution for the robot trajectory tracking in a short computation time. The proposed approach is evaluated in simulation on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated. ; This research is partially supported by research project DPI2011-27845-C02-01 of the Spanish Government (Spain), research projects PAID-05-11-2640 and PAID-00-12-SP20120159 of the Universitat Polit'ecnica de Val'encia (Spain), and research projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361, and UNLP 1164 (Argentina). ; Gracia Calandin, LI.; Garelli, F.; Sala Piqueras, A. (2013). Integrated sliding-mode algorithms in robot tracking applications. Robotics and Computer-Integrated Manufacturing. 29(1):53-62. https://doi.org/10.1016/j.rcim.2012.07.007 ; S ; 53 ; 62 ; 29 ; 1

In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which is compatible with the robot input constraints (joint speeds). Some distinctive features of the proposal are that: (1) it is completely independent of the robot parameters, and it does not require a priori knowledge of the desired path either, (2) it avoids on-line computations necessary for conventional analytical methodologies, and (3) it can be easily added as a supervisory block to pre-existing path tracking schemes. A sufficient condition (lower bound on desired tracking speed) for the sliding mode regulation to be activated is derived, while a chattering amplitude estimation is obtained in terms of the sampling period and a tunable first-order filter bandwidth. The algorithm is evaluated on the freely accessible 6R robot model PUMA-560, for which a path passing through a wrist singularity is considered to show the effectiveness of the proposal under hard tracking conditions. © 2011 Elsevier B.V. All rights reserved. ; This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2008-06731-C02-01 of the Spanish Government (Spain), Technical University of Valencia (Spain), and the Argentinian Government (UNLP 111127, CONICET PIP 112-200801-0, ANPCyT PICT 2007 00535). ; Garelli, F.; Gracia Calandin, LI.; Sala, A.; Albertos Pérez, P. (2011). Sliding mode speed auto-regulation technique for robotic tracking. Robotics and Autonomous Systems. 59(7-8):519-529. https://doi.org/10.1016/j.robot.2011.03.007 ; S ; 519 ; 529 ; 59 ; 7-8

This work highlights the applicability of different redundancy resolution schemes to the postprocessing stage from a computer-aided manufacturing (CAM) system to an industrial redundant workcell. The inverse kinematic problem for redundant manipulators is not straightforward and, therefore, it is commonly solved using an iteratively approach based on redundant resolution schemes at the velocity level. In this work, two conceptions of redundancy resolution schemes are evaluated and a novel fuzzy inference system is developed to improve the performance during the toolpath tracking in order to avoid singularities and to maintain a preferred reference posture. For this purpose, the fuzzy inference engine properly adjusts the weight of each joint in the calculation of the performance criterion vectors. The proposed approach is validated in the real prototyping of a windmill blademold using a KUKA KR15/2manipulator mounted on a linear track and synchronized with a rotary table. To the authors knowledge, the proposed method and the results shown are novel in the context of postprocessing techniques from CAM systems to industrial robots devoted to milling works. With the same guidelines, the postprocessor programmed inside the CAM system is expected to be easily applicable not only to other industrial robots, but also for different applications such as welding or painting labors. ; This research is partially supported by the Technical University of Valencia (PAID-00-09-3092, PAID-05-11-2640), project PROMETEO 2009/063 of Generalitat Valenciana and research project DPI2009-14744-C03-01 of the Spanish Government. ; Andrés De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, J. (2012). CAM-Rob postprocessor based on a fuzzified redundancy resolution scheme. International Journal of Advanced Manufacturing Technology. 62(5):705-718. https://doi.org/10.1007/s00170-011-3836-y ; S ; 705 ; 718 ; 62 ; 5 ; Andres J, Gracia L, Tornero J (2011) Calibration and control of a redundant robotic workcell for milling tasks. Int ...

This paper describes the implementation of a postprocessor to adapt the toolpath generated by a CAM system (NXTM) to a complex workcell of eight joints (namely, a KUKA KR15/2 manipulator mounted on a linear track and synchronized with a rotary table), devoted to the rapid prototyping of 3D CAD-defined products. Previously, it evaluates several Redundancy Resolution Schemes at the joint-rate level for the configuration of the postprocessor, dealing not only with the additional joints but also with the redundancy due to the symmetry on the milling tool. The use of these redundancies is optimized by adjusting two performance criterion vectors related to both singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done during the path tracking. In addition, two proper fuzzy inference engines actively adjust the weight of each joint in these tasks. The postprocessor is validated in a real prototyping of a Valencian Falla. ; This research is partially supported by the Technical University of Valencia (PAID-00-09), project PROMETEO 2009/063 of Generalitat Valenciana and research project DPI2009-14744-C03-01 of the Spanish Government. ; Andrés De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, J. (2012). Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes. Robotics and Computer-Integrated Manufacturing. 28(2):265-274. https://doi.org/10.1016/j.rcim.2011.09.008 ; S ; 265 ; 274 ; 28 ; 2

In this paper, novel visual servoing techniques based on Pulse Width Modulation (PWM) and Pulse Frequency Modulation (PFM) are presented. In order to apply previous pulse modulations, a fully decoupled position based visual servoing approach (i.e. with block-diagonal interaction matrix) is considered, controlling independently translational and rotational camera motions. These techniques, working at high frequency, could be considered to address the sensor latency problem inherent in visual servoing systems. The expected appearance of ripple due to the concentration of the control action in pulses is quantified and analyzed under simulated scenario. This high frequency ripple does not affect the system performance since it is filtered by the manipulator dynamics. On the contrary it can be seen as a dither signal to minimize the impact of friction and overcome back-lashing. ; This work was supported in part by the Spanish Government under Grant BES-2010-038486 and Project DPI2013-42302-R. ; Muñoz Benavent, P.; Solanes Galbis, JE.; Gracia Calandin, LI.; Tornero Montserrat, J. (2015). PWM and PFM for visual servoing in fully decoupled approaches. Robotics and Autonomous Systems. 65(1):57-64. doi:10.1016/j.robot.2014.11.011 ; S ; 57 ; 64 ; 65 ; 1

[EN] The present paper explores the industrial capabilities of a CAM¿]ROB system implementation based on a commercial CAD/CAM system (NXTM) for an industrial robotic workcell of eight joints, committed to the rapid prototyping of 3D CAD¿]defined models. The workcell consists of a KUKATM KR15/2 manipulator assembled on a linear track and synchronized with a rotary table. A redundancy resolution scheme is developed to deal with the redundancies due to the additional joints of the robot, plus the one from the symmetry axis of the milling tool. During the path tracking, the use of these redundancies is optimized by adjusting two performance criterion vectors related to singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done. In addition, two suitable fuzzy inference engines adjust the weight of each joint in these tasks. The developed system is validated in a real prototyping of a carving. ; This research is partially supported by research project DPI2009-14744-C03-01 of the Spanish Government, project PROMETEO 2009/063 of Generalitat Valenciana, and research projects PAID-05-11-2640 and PAID-00-12-SP20120159 of the Universitat Politecnica de Valencia. ; Gracia Calandin, LI.; Andrés De La Esperanza, FJ.; Gracia Calandin, CP. (2012). Automated milling path tracking and CAM-ROB integration for industrial redundant manipulators. International Journal of Advanced Robotic Systems. 9(62):1-8. https://doi.org/10.5772/51101 ; S ; 1 ; 8 ; 9 ; 62 ; Andres, J., Gracia, L., & Tornero, J. (2011). Calibration and control of a redundant robotic workcell for milling tasks. International Journal of Computer Integrated Manufacturing, 24(6), 561-573. doi:10.1080/0951192x.2011.566284 ; Asif, U., & Iqbal, J. (2012). On the Improvement of Multi-Legged Locomotion over Difficult Terrains Using a Balance Stabilization Method. International Journal of Advanced Robotic Systems, 9(1), 1. doi:10.5772/7789 ; Angeles, J. (Ed.). (2003). Fundamentals of Robotic Mechanical Systems: Theory, ...

[EN] In recent years, the use of technology in the museum context has changed radically. It has switched from the display of information to offering emotive, immersive, and rich experiences with heritage. Virtual interactive media have the potential to put museums back into a relevant place in our increasingly digital society. The emergence of augmented-reality glasses offers the possibility to test and implement new methodologies compatible with this aim. However, most of the first examples developed in recent years did not take advantage of the possibilities of this new medium. This paper presents a novel methodology for producing mixed-reality applications for museums and heritage sites, with an intuitive, immersive, and natural way of operating. An experimental prototype designed for the archaeological museum of the Almoina is shown in the paper to demonstrate the benefits of the proposed system and methodology of production. In addition, the paper shows the results of several tests. ; This research was founded by the Generalitat Valenciana (Grant GV/2021/181) and by the Spanish Government (Grant PID2020-117421RB-C21 funded by MCIN/AEI/10.13039/501100011033). ; Martí-Testón, A.; Muñoz García, A.; Solanes Galbis, JE.; Gracia Calandin, LI.; Tornero Montserrat, J. (2021). A Methodology to Produce Augmented-Reality Guided Tours in Museums for Mixed-Reality Headsets. Electronics. 10(23):1-21. https://doi.org/10.3390/electronics10232956 ; S ; 1 ; 21 ; 10 ; 23

[EN] In this work, an approach based on sliding mode ideas is proposed to satisfy constraints in robot visual servoing. In particular, different types of constraints are defined in order to: fulfill the visibility constraints (camera fieldof-view and occlusions) for the image features of the detected object; to avoid exceeding the joint range limits and maximum joint speeds; and to avoid forbidden areas in the robot workspace. Moreover, another task with low-priority is considered to track the target object. The main advantages of the proposed approach are low computational cost, robustness and fully utilization of the allowed space for the constraints. The applicability and effectiveness of the proposed approach is demonstrated by simulation results for a simple 2D case and a complex 3D case study. Furthermore, the feasibility and robustness of the proposed approach is substantiated by experimental results using a conventional 6R industrial manipulator. ; This work was supported in part by the Spanish Government under grants BES-2010-038486 and Project DPI2013-42302-R, and the Generalitat Valenciana under grants VALi+d APOSTD/2016/044 and BEST/2017/029. ; Muñoz-Benavent, P.; Gracia Calandin, LI.; Solanes Galbis, JE.; Esparza Peidro, A.; Tornero Montserrat, J. (2018). Robust fulfillment of constraints in robot visual servoing. Control Engineering Practice. 71(1):79-95. https://doi.org/10.1016/j.conengprac.2017.10.017 ; S ; 79 ; 95 ; 71 ; 1

[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when performing the task. In particular, the proposed teleoperation uses augmented virtuality (i.e., a virtual world that includes non-modeled real-world data) and haptic feedback to provide the user an immersive virtual experience when remotely teleoperating the tool of the robot system to treat arbitrary regions of the workpiece surface. The method is illustrated with a car body surface treatment operation, although it can be easily extended to other surface treatment applications or even to other industrial tasks where the human operator may benefit from robotic assistance. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm. Moreover, a comparison of the performance obtained manually by an expert and that obtained with the proposed method has also been conducted in order to show the suitability of the proposed approach. ; This research was founded by the Spanish Government and the Generalitat Valenciana under Grants PID2020-117421RB-C21 and GV/2021/005 ; González, C.; Solanes Galbis, JE.; Muñoz García, A.; Gracia Calandin, LI.; Girbés-Juan, V.; Tornero Montserrat, J. (2021). Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback. Journal of Manufacturing Systems. 59:283-298. https://doi.org/10.1016/j.jmsy.2021.02.013 ; S ; 283 ...

[EN] This research develops a new mixed reality-based worker interface for industrial camera 3D positioning, which is intuitive and easy to manage, in order to enhance the worker safety, ergonomics and productivity. An experimental prototype to be used in the car body quality control is developed in the paper. The benefits and drawbacks of the proposed interface are discussed along the paper and sustained through several usability tests conducted with users familiar and not-familiar with mixed reality devices. Furthermore, the feasibility of the proposed approach is demonstrated by tests made in an industrial environment with skilled workers from Alfatec Sistemas company. ; This work was supported in part by the Spanish Government under the Project DPI2017-87656-C2-1-R. ; Muñoz García, A.; Martí Testón, A.; Mahiques, X.; Gracia Calandin, LI.; Solanes Galbis, JE.; Tornero Montserrat, J. (2020). Camera 3D positioning mixed reality-based interface to improve worker safety, ergonomics and productivity. CIRP Journal of Manufacturing Science and Technology (Online). 28:24-37. https://doi.org/10.1016/j.cirpj.2020.01.004 ; S ; 24 ; 37 ; 28

[EN] This article develops a human-robot cooperation to carry out treatments such as sanding, polishing, etc. on the surface of a known rigid object. For this purpose, a vision system is considered to get the object location to ensure not only the perpendicularity of the obot tool to the object surface but also a smooth approach of the tool to the surface. In order to add flexibility, the proposal includes the simultaneous combination of automatic and manual modes of operation. Thus, the human user can guide the robot tool to treat arbitrary areas (manual mode) and, when the operator releases the tool, the robot goes into the automatic mode to treat prior established areas. The method uses a task prioritization framework and three types of controllers: an admittance controller for the tool guidance; a hybrid controller to modify the tool orientation and, in the automatic mode, the tool position; and a sliding mode controller to limit the velocity at which the tool approaches the object surface. The applicability and efficacy of the proposed method is demonstrated experimentally using a conventional 6R robot arm. ; This work was supported in part by the Spanish Government, and in part by the Generalitat Valenciana under Grant DPI2017-87656-C2-1-R and Grant ACIF/2019/007. ; García-Fernández, A.; Girbés, V.; Solanes Galbis, JE.; Gracia Calandin, LI.; Perez-Vidal, C.; Tornero Montserrat, J. (2020). Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes. IEEE Access. 8:154024-154035. https://doi.org/10.1109/ACCESS.2020.3014501 ; S ; 154024 ; 154035 ; 8