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1
Content available Preface to special issue on robot perception and control
Zieliński Cezary, Tchoń Krzysztof
Journal of Automation Mobile Robotics and Intelligent Systems
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2019
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Vol. 13, No. 2
3--4
2
Content available Draft JIG structure design for measuring deformation of thin-walled robotic or conveyor components
Michalik Peter, Zajac Jozef, Straka Ľuboslav, Nowakowski Lukasz, Ambrozy Martin
Advances in Science and Technology. Research Journal
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2018
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Vol. 12, no 3
55--60
EN
The paper presents the general function, the division and the description of the main jig parts. It gives account of the basics and principles of a measuring jig structure using CAD applications. The main part delves into design of individual measurement jig options for measuring deformations of thin-walled robotic and conveyor components. Tension and stress analyses for each option have been performed. Subsequent to stress analysis, a suitable option was selected, with a description of its main parts, the production process and the necessary production equipment. Finally, the jig produced for the purpose of measuring deformation of thin-walled robotic and conveyor components is presented.
3
Content available Assessment of the manufacturing possibility of thin-walled robotic portals for conveyance workplaces
Michalik Peter, Dobranský Jozef, Hrabovský Leopold, Petruš Michal
Advances in Science and Technology. Research Journal
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2018
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Vol. 12, no 1
338--345
EN
The paper discusses evaluation of machining solutions for oversized thin-walled robotic portal component for conveyance workplaces. The following portal CNC machining centers have been selected. Firstly, a FSGC 300 “portal type” portal was proposed, with a 50000 mm “X” axis and Heidenhain control system, the second portal was a DMU 340 portal with the maximum axis “X” of 6000 mm and Siemens Sinumerik control system and the last portal was the VF-10 / 40 one, with the maximum axis “X” of 3048 mm and Fanuc control system. Further, the method of fixing a thin-walled robotic portal is designed and individual options are evaluated for their economy. The CAM software application used for programming the production was SolidWorks.
4
Content available remote Elementy bezpieczeństwa transportu w projektach realizowanych przez Koło Naukowe Elektrotechniki w Systemach Transportowych
Tomczuk P., Jaskowski P.
Prace Naukowe Politechniki Warszawskiej. Transport
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2017
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z. 116
313--325
PL
Władze Wydziału Transportu Politechniki Warszawskiej co roku organizują seminarium naukowe w celu integracji środowiska kół naukowych, które działają na wydziale. Jednym z nich jest Koło Naukowe Elektrotechniki w Systemach Transportowych (KNEST), działające od 2008 roku. Artykuł przedstawia wybrane efekty zrealizowanych prac w ramach działalności Koła, zaprezentowane podczas III Seminarium Naukowe Młodych Naukowców „Bezpieczeństwo i najnowsze technologie fundamentem rozwoju współczesnego transportu” na Wydziale Transportu. Przedstawione projekty Koła zostały wykonane w ramach Grantu Rektora Politechniki Warszawskiej i dotyczą przejść dla pieszych, budowy robota mobilnego oraz oświetlenia światłem sztucznym stanowisk pracy.
EN
The Faculty of Transport of the Warsaw University of Technology organizes a scientific seminar every year to integrate the scientific clubs that operate in the faculty. One of them is the Scientific Club of Electrotechnical in Transport Systems (KNEST), operating since 2008. The article presents the selected results of the work carried out within the framework of the activities of the Club, presented at the III Scientific Seminar of Young Scientists "Safety and the latest technologies underlying the development of modern transport" at the Transport Faculty. The presented projects were implemented within the framework of the Rector's Grant of the Warsaw University of Technology, which deals with pedestrian crossings, construction of mobile robot and artificial light illumination of workstations.
5
Content available Intelligent utilization of waste of electrical and electronic equipment (WEEE) with robotized tool
Szałatkiewicz J., Szewczyk R.
Journal of Automation Mobile Robotics and Intelligent Systems
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2012
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Vol. 6, No. 4
45-49
EN
The article examines the solution of intelligent robotic utilization of electrical waste and electronic equipment (WEEE), as means of materials recovery. The paper provides criteria for selection, identification and waste analysis, enabling application of robotic dismantling solutions. Based on proposed criteria, the waste of computer hard disk drives (HDD) was identified, analyzed, and their characteristics described. Furthermore applying described approach to robotized dismantling, the complete process of waste HDD processing, covering all the procedural steps was presented for the selected disk. Described intelligent utilization process can be performed with use of 2 robots equipped with, 2 tools and one conveyor handle. Authors also briefly presents issues related to proposed process approached during HDD waste disassembly studies. In addition, paper presents the quantities of materials to be recovered from the HDD waste.
6
Content available Using Tikhonov regularization to improve estimation of robot position based on uncertain robot model obtained by neural network
Możaryn J., Kurek J. E.
Pomiary Automatyka Kontrola
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2009
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R. 55, nr 3
198-204
EN
A method for improvement of a position estimation of a robot manipulator based on model with uncertain parameters is presented. To calculate the position of the robot there was designed the robot model using artificial neural networks with structure of the mathematical model in the form of Lagrange-Elder equations. The Tikhonov regularization was then used to improve the approximation of the robot's position. The example of the position of the robot PUMA 560 with 6 degrees of freedom calculation with proposed method is presented. Obtained results indicate significant improvement of the estimation.
PL
W pracy przedstawiono metodę poprawy estymacji położeń robota na podstawie modelu robota o niedokładnych parametrach. Do wyznaczania położenia robota zaprojektowano model robota z wykorzystaniem sztucznych sieci neuronowych o strukturze modelu matematycznego w formie równań Lagrange'a-Eulera. W celu poprawy estymacji położeń na podstawie wyznaczonego modelu zastosowano regularyzację Tikhonowa. Zaproponowana metoda została przedstawiona na przykładzie odtwarzania położeń robota PUMA 560. Otrzymane wyniki wskazują na znaczną poprawę dokładności.
7
Content available Application of the PExSim to Modelling and Simulation of Robot Manipulators
Fajdek B., Janiszowski K.
Pomiary Automatyka Kontrola
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2009
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R. 55, nr 3
160-164
EN
The paper presents the Robotic Elements plugin for the PExSim which provides many functions that are required in robotics, and addresses areas such as kinematics, dynamics, and trajectory generation. The plugin is useful for research, modelling and simulation of robot manipulators. It can also be a powerful tool for education. A short presentation of blocks that are the part of the plugin, is included. Also a simple example of application is presented.
PL
W niniejszym opracowaniu przedstawiony jest plugin Robotic Elements dla pakietu PExSim, który dostarcza wiele funkcji niezbędnych w dziedzinie robotyki oraz nauk z nią związanych takich jak kinematyka, dynamika oraz planowanie trajektorii. Przygotowany zestaw bloków stanowi użyteczne narzędzie do badań, modelowania oraz symulowania manipulatorów. Może zostać także wykorzystany do celów edukacyjnych z dziedziny robotyki. W referacie zawarty jest opis poszczególnych bloków, które wchodzą w skład plugin-u. Ponadto przedstawiono przykład praktycznego zastosowania.
8
Rozproszony system sterowania robotem mobilnym
Łukasik Z., Pniewska B., Pniewski R.
Logistyka
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2009
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nr 6
CD-CD
PL
W artykule przedstawiono, opracowany przez autorów otwarty system sterowania robotem mobilnym. Jako sterownik nadrzędny zastosowano komputer PC. Poszczególne moduły (napędy i sensory) współpracują ze sterownikiem centralnym poprzez interfejsy RS485 lub CAN.
EN
In the article, opened system of manipulating the mobile robot has been presented. A PC computer was applied as the main controller. Individual modules (drives and sensors) are cooperating with the main system through RS485 or CAN).
9
Content available remote Casting directly from a computer model by using advanced simulation software FLOW-3D Cast Ž
Sirviö M., Woś M.
Archives of Foundry Engineering
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2009
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Vol. 9, iss. 1
79-82
EN
ConiferRob - A patternless casting technique, originally conceived at VTT Technical Research Centre of Finland and further developed at its spin-off company, Simtech Systems, offers up to 40% savings in product development costs, and up to two months shorter development times compared to conventional techniques. Savings of this order can be very valuable on today's highly competitive markets. Casting simulation is commonly used for designing of casting systems. However, most of the software are today old fashioned and predicting just shrinkage porosity. Flow Science, VTT and Simtech have developed new software called FLOW-3D Cast Ž , which can simulate surface defects, air entrainment, filters, core gas problems and even a cavitation.
10
Design of mechanical construction and control of small experimental biped robot
Zezula P., Vlachy D., Grepl R.
Modelling and Optimization of Physical Systems
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2007
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z. 6
173--178
EN
This paper reports about the design of the humanoid robot. The construction of two legs (six DOF each) is described. Computational modelling has been used, particularly forward and inverse kinematic models as well as dynamical model built in Matlab/SimMechanics. By help of these models, the several functions for the control of moving of robot's body have been built. Coordination of robot move was simulated in environment VRML. Farther, there is described the control by using microcontrollers ATMEL ATMega. Next, there are mentioned the real experiments used for the verification of the results of kinematic models. Paper also contains information about the topology of electronic system, including description communication between MC units, sensing elements and PC.
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