Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study

2018 ◽  
pp. 250-257 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Joanna Ratajczak ◽  
Janusz Jakubiak
Keyword(s):  
Normal Forms ◽  
Robotic Systems

scholarly journals Normal form approach in the motion planning of space robots: a case study

2021 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Katarzyna Zadarnowska
Keyword(s):  
Normal Form ◽  
Motion Planning ◽  
Normal Forms ◽  
Inverse Dynamics ◽  
Planning Problem ◽  
Inverse Dynamics Problem ◽  
Velocity Level ◽  
Form Approach ◽  
Space Approach

AbstractWe examine applicability of normal forms of non-holonomic robotic systems to the problem of motion planning. A case study is analyzed of a planar, free-floating space robot consisting of a mobile base equipped with an on-board manipulator. It is assumed that during the robot’s motion its conserved angular momentum is zero. The motion planning problem is first solved at velocity level, and then torques at the joints are found as a solution of an inverse dynamics problem. A novelty of this paper lies in using the chained normal form of the robot’s dynamics and corresponding feedback transformations for motion planning at the velocity level. Two basic cases are studied, depending on the position of mounting point of the on-board manipulator. Comprehensive computational results are presented, and compared with the results provided by the Endogenous Configuration Space Approach. Advantages and limitations of applying normal forms for robot motion planning are discussed.

Complete Accessibility of Oscillations in Robotic Systems by Orthogonal Projections

1990 ◽  
Vol 112 (2) ◽  
pp. 194-202 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Current Practice ◽  
Industrial Robot ◽  
Robotic Systems ◽  
Orthogonal Projections ◽  
Small Oscillations ◽  
Robotic Arms ◽  
Driven System ◽  
System Equations ◽  
Six Degree Of Freedom

The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1+m2. System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.

XML Documents Normalization Using GN-DTD

2013 ◽  
pp. 54-77
Author(s):  
Zurinahni Zainol ◽  
Bing Wang
Keyword(s):  
Normal Forms ◽  
Document Type Definition ◽  
Document Type ◽  
Graphical Notation ◽  
Xml Documents ◽  
Type Definition ◽  
Xml Document ◽  
Multiple Levels ◽  
Normalization Process

Designing a well-structured XML document is important for the sake of readability, maintainability and more importantly to avoid both data redundancies and update anomalies. This paper proposes to improve and simplify XML structural design using a normalization process. To achieve this, Graphical Notation for Document Type Definition (GN-DTD) is used to describe the structure of XML document at the schema level. Multiple levels of normal forms for GN-DTD are proposed and the corresponding normalization rules to transform from poorly designed into well-designed XML documents. A case study is presented to show the application of these normal forms and normalization algorithm.

scholarly journals Human Safety in Autonomous Transport Systems – Review and Case Study

2021 ◽  
Vol 51 (1) ◽  
pp. 57-71
Author(s):  
Alicja Dąbrowska ◽  
Robert Giel ◽  
Sylwia Werbińska-Wojciechowska
Keyword(s):  
Human Detection ◽  
Robotic Systems ◽  
Transport Systems ◽  
Future Research ◽  
Research Gaps ◽  
Research Directions ◽  
Human Safety ◽  
Storage Area ◽  
Future Research Directions

Abstract During the robot's operational tasks, a key issue is its reliability in the aspect of human safety providing. Currently, there are a number of methods used to detect people, and their selection most often depends on the type of process carried out by robots. Therefore, the article is focused on the development of a comparative analysis of selected methods of human detection in the storage area. The main aspect in the context of which these systems were compared concerned the safety of robotic systems in the space of human occurrence. Main advantages and drawbacks of the methods in various applications were presented. The detailed analysis of the achievements in this area gives the possibility to identify research gaps and possible future research directions when using these tools in autonomous warehouses designing processes.

Information-efficient robotic control

Robotica ◽  
1994 ◽  
Vol 12 (2) ◽  
pp. 157-164 ◽  
Author(s):  
Oded Maimon ◽  
Mark Last
Keyword(s):  
Stochastic Systems ◽  
Autonomous Robots ◽  
Discrete Event ◽  
Information Economics ◽  
Robotic Systems ◽  
Robotic Control ◽  
New Approach ◽  
Discrete Event Control ◽  
Available Information

SUMMARYThe work demonstrates a new approach to design of a level of intelligent control of robotic systems. The analytical model results in operational decisions. The structure of these decisions make them readily available to be implemented as an expert system. The approach is applied to a case study of mobile supervisory robots. The model presented here was motivated by manufacturing robotic systems and a type of autonomous robots that collect information at different sites for safety and other control purposes. The robot actions are directly affected by the obta~ned data. At each site the amount of available information (and thus the correctness of the robot decision) can be increased if the robot keeps collecting data at that site for a longer period of t~me. This means a delay in reacting and in reaching next site and accordingly, a decrease in the general amount of robot's information on the whole system.The method of finding an economic amount of information collected by a robot at each site is based on the theory of controlled discrete event stochastic systems developed in our earlier works. This theory combines he basic concepts of discrete event control extended to stochastic systems with some aspects of information economics.

The evitability of autonomous robot warfare

2012 ◽  
Vol 94 (886) ◽  
pp. 787-799 ◽  
Author(s):  
Noel E. Sharkey
Keyword(s):  
Science Fiction ◽  
Ethical Issues ◽  
Autonomous Robots ◽  
Robotic Systems ◽  
International Humanitarian Law ◽  
Humanitarian Law ◽  
The Media ◽  
The Military ◽  
Free Ranging

AbstractThis is a call for the prohibition of autonomous lethal targeting by free-ranging robots. This article will first point out the three main international humanitarian law (IHL)/ethical issues with armed autonomous robots and then move on to discuss a major stumbling block to their evitability: misunderstandings about the limitations of robotic systems and artificial intelligence. This is partly due to a mythical narrative from science fiction and the media, but the real danger is in the language being used by military researchers and others to describe robots and what they can do. The article will look at some anthropomorphic ways that robots have been discussed by the military and then go on to provide a robotics case study in which the language used obfuscates the IHL issues. Finally, the article will look at problems with some of the current legal instruments and suggest a way forward to prohibition.

Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System

2016 ◽  
Vol 8 (5) ◽  
Author(s):  
Joshua D. Davis ◽  
Yunuscan Sevimli ◽  
Baxter R. Eldridge ◽  
Gregory S. Chirikjian
Keyword(s):  
Low Cost ◽  
Robotic Systems ◽  
Modular Robots ◽  
Design Constraints ◽  
Module Design ◽  
The Past ◽  
New Novel ◽  
Operational Capabilities ◽  
Mapping Task

Modular robots have captured the interest of the robotics community over the past several years. In particular, many modular robotic systems are reconfigurable, robust against faults, and low-cost due to mass production of a small number of different homogeneous modules. Faults in these systems are normally tolerated through redundancy or corrected by discarding damaged modules, which reduces the operational capabilities of the robot. To overcome these difficulties, we previously developed and discussed the general design constraints of a heterogeneous modular robotic system (Hex-DMR II) capable of autonomous team repair and diagnosis. In this paper, we discuss the design of each module, in detail, and present a new, novel elevator module. Then, we introduce a forestlike structure that enumerates every non-isomorphic, functional agent configuration of our system. Finally, we present a case study contrasting the kinematics and power consumption of two particular configurations during a mapping task.

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