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1
Content available A universal architectural pattern and specification method for robot control system design
Kornuta T., Zieliński C., Winiarski T.
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2020
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Vol. 68, nr 1
3--29
EN
The paper presents a universal architectural pattern and an associated specification method that can be applied in the design of robot control systems. The approach a describes the system in terms of embodied agents and proposes a multi-step decomposition enabling precise definition of their inner structure and operation. An embodied agent is decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to the design of a control system of a robot executing one of the most important tasks for a service robot, i.e. picking up, by a position-force controlled robot, an object located using an RGB-D image acquired from a Kinect. Moreover in order to substantiate the universality of the presented approach we present how classical, known from the literature, robotic architectures can be expressed as systems composed of one or more embodied agents.
2
Content available Safe strategy of door opening with impendance controlled manipulator
Winiarski T., Banachowicz K., Stefańczyk M.
Journal of Automation Mobile Robotics and Intelligent Systems
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2013
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Vol. 7, No. 4
21--26
EN
Modern robotic systems are able to localize doors and its handle or knob, grasp the handle and open the door. Service robots need to open doors and drawers to autonomously operate in human environment. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was expanded with these factors to achieve safe behavior of direct (explicit) position-force controller of KUKA LWR4+ robot that opens the door.
3
Bezpieczna strategia otwierania drzwi robotem manipulacyjnym KUKA-LWR
Winiarski T., Banachowicz K., Stefańczyk M.
Prace Naukowe Politechniki Warszawskiej. Elektronika
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2012
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z. 182, t. 2
395--404
PL
Roboty usługowe do sprawnego i, co najważniejsze, samodzielnego operowania w środowisku człowieka potrzebują m.in. otwierać drzwi i szuflady podobnie jak czyni to człowiek. Współczesne systemy robotyczne potrafią, przy pewnych założeniach, wykryć drzwi i klamkę, schwycić klamkę (bądź gałkę) i ciągnąć za drzwi, aby się otwierały. Interesującym zagadnieniem jest inkorporowanie ograniczeń na siłę i prędkość w uniwersalne prawo sterowania, co ma na celu ograniczenie ryzyka uszkodzenia drzwi oraz robota podczas autonomicznego otwierania drzwi (np. wyrwania bądź ułamania uchwytu) W niniejszym artykule zaprezentowano w sposób formalny takie prawo sterowania dla nowoczesnego robota sterowanego siłowo metodą bezpośredni
EN
Service robots need to open doors and drawers to autonomously operate in human environment. Modern robotics systems are able to localize the doors and its handles or knobs, grasp the handles and open the doors. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was extended by the previously mentioned factors to achieve safe behavior of direct (explicit) position-force controller of KUKA-LWR robot opening the door.
4
New approach to design of industrial robots
Palko A.
Zeszyty Naukowe Politechniki Poznańskiej. Budowa Maszyn i Zarządzanie Produkcją
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2008
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Nr 9
93-100
EN
The analysis of recent development as well as recent trends of development of automation of production and non-production processes proves that robotization of those processes has, in the general concept of their automation, still its unique and irreplacible position. These trends place higher demands on the complexity of innovation of all means entering automated production and service systems. Recent trends formed new needs on the development and construction of new categories and generations of robots as well as new approach to the appplication of robots.
5
Content available Double-wheeled mobile robots. Selected Problems and Proposed Solutions
Smrček J., Friga P.
Journal of Automation Mobile Robotics and Intelligent Systems
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2008
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Vol. 2, No. 2
23-28
EN
The paper introduces selected problems from the theory of robotics related to the design and designed construction of double wheeled mobile robotic equipment, supported by own experience. The knowledge is compiled into recommendations for practical design and construction of robotic means.
6
Content available remote Rubik's cube reconstruction from single view for service robots
Kasprzak W., Szynkiewicz W., Czajka Ł.
Machine Graphics and Vision
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2006
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Vol. 15, No. 3/4
451-459
EN
The Rubik's cube puzzle is seen as a benchmark for service robots. In such an application, a computer vision subsystem is required to locate the object in space and to determine the configuration of its colored cells. This paper presents a robust algorithm for Rubik's cube reconstruction from a single view in real time. An issue of special interest is to obtain a good tade-off between the quality of results, and the computational complexity of the algorithm.
7
Content available remote Neutralising and assisting robot SMR-100 Expert design problematics
Szynkarczyk P.
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2005
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Vol. 53, nr 1
87-92
EN
Neutralisation of the terrorist explosive devices is a risky task. Such tasks may be carried out by robots in order to protect human life. The article describes chosen design problems concerning the new neutralisation and assisting robot SMR-100 Expert. The robot was to be designed for the use in confined spaces, particularly inside the air-crafts, buses and rail cars. In order to achieve this ambitious plan, new advanced technological designing tools had to be applied. A number of interesting design issues were approached. The successful development of the prototype robot Expert in Poland resulted in the creation of the first intervention robot in the world able to perform all necessary anti-terrorist tasks inside the passenger planes.
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