Collaborative Synchronization of a 7-Axis Robot

Weingartshofer, Thomas; Schwegel, Michael; Hartl-Nesic, Christian; Glück, Tobias; Kugi, Andreas

doi:10.1016/j.ifacol.2019.11.726

Cited by 3 publications

(2 citation statements)

References 7 publications

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“…Hence, the position error of the controller (29) is computed as p = p D B − p C B , the angular velocity error is computed as ω = ω D B − ω C B , and the quaternion error e o is the vector part of the quaternion product o D B ⊗ (o C B ) −1 , see [35], [38]. The control matrix K ω is diagonal and positive definite, the gain K o > 0, and the choice of the gain matrices K D , K P , and K I and the proof of the asymptotic stability of (29) are given in [39].…”

Section: A Motion Controlmentioning

confidence: 99%

Automatic and Flexible Robotic Drawing on Complex Surfaces With an Industrial Robot

Weingartshofer,

Hartl-Nesic,

Kugi

2024

IEEE Trans. Contr. Syst. Technol.

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In industrial applications, planning and executing robot motions are crucial steps for manufacturing processes. Following the trend for customization, more flexible production systems are needed to quickly adapt the planned robot motion to new user inputs. In this work, a user-defined 2-D input pattern has to be drawn by a robot on a given 3-D object in an automated workflow. For this, two projection methods to map the 2-D input pattern to the 3-D object are presented, and robot trajectories are automatically generated based on the result of the projection methods. Furthermore, two control concepts, i.e., a pure motion control and a hybrid force/motion control, are investigated and validated by experimental results. In addition, a precise force estimation is performed to guarantee a constant normal contact force during the drawing process. The proposed automated workflow is applicable to various industrial processes, e.g., spray painting, cutting, and engraving, and provides an easy way to plan and execute robot motions based on user inputs.

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Section: A Motion Controlmentioning

confidence: 99%

Automatic and Flexible Robotic Drawing on Complex Surfaces With an Industrial Robot

Weingartshofer,

Hartl-Nesic,

Kugi

2024

IEEE Trans. Contr. Syst. Technol.

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“…Fisher's information is a measure of the amount of information an observable random variable X carries about unknown parameters of the distribution of a model X. Variance is evaluated by mathematical statistics of information, that is, information variance will have a certain impact. To evaluate this impact, we can rely on Fisher's information, which has been verified in mathematical statistics and information theory [14,15]. People often misunderstand that the prior probability determines the asymptotic distribution of the posterior probability, but this is a misunderstanding.…”

Section: Robot Positioning Technologymentioning

confidence: 99%

Cloud Computing Based on Big Data-Driven Robot Walking Route and Real-Time Positioning Intelligent Determination

Guan

Meng

2022

Wireless Communications and Mobile Computing

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With the continuous development of technologies such as sensors, computers, and artificial intelligence, intelligent mobile robots with thinking, perception, and dynamics functions are widely used in military, political, and scientific research. Its development has had a significant impact on national defense, society, economy, science, and technology and has become a strategic research goal in the high-tech field of various countries. Robot positioning technology is one of the key research technologies for portable robots, and reliable posture is the key prerequisite for completing various tasks. This article aims to study the robot walking route driven by big data and the intelligent determination of real-time positioning based on cloud computing. This paper proposes an active general positioning algorithm based on real-time positioning function, which can improve the convergence speed and robustness of general positioning when different map scenes do not have clear geometric features and contain map noise. The most basic requirement for robots to perform autonomous operations is to have reliable positioning performance. The experimental results in this paper show that dynamic global positioning and adaptive behavior tracking are effective. Compared with the traditional algorithm, the improved algorithm increases the convergence speed of the global layout by 41.59%.

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