By Aleksandar Rodić, Theodor Borangiu
This ebook provides the court cases of the twenty fifth foreign convention on Robotics in Alpe-Adria-Danube sector, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2d, 2016. in response to the culture of the development, RAAD 2016 lined the entire vital components of analysis and innovation in new robotic designs and clever robotic regulate, with papers together with clever robotic movement keep an eye on; robotic imaginative and prescient and sensory processing; Novel layout of robotic manipulators and grippers; robotic purposes in production and companies; independent platforms, humanoid and jogging robots; Human–robot interplay and collaboration; Cognitive robots and emotional intelligence; clinical, human-assistive robots and prosthetic layout; Robots in building and humanities, and Evolution, schooling, criminal and social problems with robotics. For the 1st time in RAAD heritage, the subjects cloud robots, criminal and moral concerns in robotics in addition to robots in arts have been integrated within the technical software. The booklet is a worthwhile source for researchers in fields of robotics, engineers who enforce robot recommendations in production, companies and healthcare, and master’s and Ph.D. scholars engaged on robotics projects.
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Additional info for Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
Finally, we show what happens when ﬁltering the derived signal from (7) with a low pass ﬁlter. This last method is termed in this paper as the Filtered derived method. 4 Experimental Evaluation and Results We performed the experiment on a Kuka LWR-4 robot, controlled from a desktop PC, using the Kuka Fast Research Interface (FRI). The robot control algorithm and the coaching algorithm were both executed in a Matlab-Simulink scheme, running at 100 Hz. The Jacobian pseudo-inverse inverse kinematics was used so that the robot’s end eﬀector moves in the desired task-space direction and with a constant orientation in all directions.
1 Robot Coaching Force Vs. Position Feedback The robot in the used method is compliant in the direction that needs modiﬁcation of motion through coaching, in our case this is the xp direction. Instead of making the weights of the DMP dependent on a demonstration, as in (4), in this case the adaptation is based on the diﬀerence between the robot’s actual position and the robot’s desired position. In this paper we evaluate if there is a diﬀerence, whether we use the actual measured force at the end eﬀector, or what is in essence positional feedback.
At the end–eﬀector of the robot a curved tool, see Fig. 1, with the radius R is mounted. 75 s over the surface and back. During the contact a π βd N in z–direction is required. 5%. Figure 2 shows the desired and the measured force with learning force control from Sect. 1 (FCTRL+MEM, iteration 4) and with pure force control from Sect. 2 (FCTRL) at original speed. 2 Simulation To test the above discussed update laws the simulation of the whole system is extended with the new control scheme and a position/orientation depended contact model is implemented.