Wyniki wyszukiwania - BazTech

1

Compensating pose uncertainties through appropriate gripper finger cutouts

Wolniakowski A., Gams M., Kramberger A., Miatliuk K., Kiforenko L., Petersen H. G., Hagelskjaer F., Buch A. G., Krüger N., Chrysostomou D., Madsen O., Ude A.

Acta Mechanica et Automatica

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2018

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Vol. 12, no. 1

78--83

EN

The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method (Wolniakowski et al., 2013, 2015). We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization.

2

Realization of coordination technology of hierarchical systems in design of active magnetic bearings system

Miatliuk K., Mystkowski A.

Journal of Theoretical and Applied Mechanics

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2015

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Vol. 53 nr 3

711--722

EN

A cybernetic technology of mechatronic design of active magnetic bearings systems (AMB) originated from theory of systems is suggested in the paper. Traditional models of artificial intelligence and mathematics do not allow describing mechatronic systems being designed on all its levels in one common formal basis. They do not describe the systems structure (the set of dynamic subsystems with their interactions), their control units, and do not treat them as dynamic objects operating in some environment. They do not describe the environment structure either. Therefore, the coordination technology of hierarchical systems has been chosen as a theoretical means for realization of design and control. The theoretical basis of the given coordination technology is briefly considered. An example of technology realization in conceptual and detailed design of AMB system is also presented.

3

Pose Prediction Based on ECV Visual System Using Kalman Filter

Kozioł P., Miatliuk K., Buch A. G., Kruger N.

Machine Dynamics Research

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2011

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Vol. 35, No. 3

37-45

EN

This paper presents a study which uses an early cognitive vision system for model-based pose estimation of an object in motion. The estimated poses are processed by a Kalman filter which makes robotic manipulation possible. Results from a simulated robot environment are given.

4

Hierarchical systems technology in design of walking robot

Miatliuk K., Siemieniako F.

International Journal of Applied Mechanics and Engineering

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2010

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Vol. 15, no 3

793-797

EN

The use of coordination technology of hierarchical systems with its standard block aed for the description of a walking robot and its design process is considered. The aed allows presentation of aggregated dynamic and structural models of an object being designed on common formal basis. ACoordinator connects the models and performs the design and control tasks on its layers. The Theoretical basis of hierarchical systems is briefly discussed in the paper. A brief consideration of the theoretical basis is followed by a formal description of a Bioloid robot and design of its assembling processes.

5

Coordination Technology in Design of Biologically Inspired Robot

Miatliuk K.

Machine Dynamics Problems

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2009

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Vol. 33, No. 3

70-78

EN

The use of symbol construction and coordination technology of hierarchical systems with its standard block aed for the formal description of biologically inspired robot and its design process is considered. Aed includes aggregated dynamic and structural models of object being designed. Coordinator connects the models and performs the design and control tasks on its layers. First, theoretical basis of the technology is briefly discussed. Formal description of Bioloid robot and design of its assembling and motion processes are presented after that in the paper.

6

Modelowanie matematyczne rozgałęzionego pneumohydraulicznego układu napędowego

Miatluk M., Siemieniako F., Miatliuk K., Peszyński K.

Hydraulika i Pneumatyka

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2008

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nr 3

50-52

7

Practical Application of Reverse Engineering for Elements with Free-Form Surfaces

Łukaszewicz A., Miatliuk K.

Machine Dynamics Problems

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2007

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Vol. 31, No. 3

51-57

EN

In this paper the reverse modelling process was used to mapping and reconstruction the geometric characteristics of element with free-form surfaces as virtual CAD model. Some basic approach in reverse modelling process in middle range standard parametric 3D modeler such as SolidWorks system were presented. The digitizing process was performed on the coordinate measuring machine. Using surface-solid modelling tools the virtual solid models were carried out. There was based on prepare 3D curves from point cloud as a sectional profiles. In next step, based on 3D feature-based model, various CAx applications can be realized. In this case an abrasive wear of rotor blade was estimated.