Coordination of Robots with Overlapping Workspaces Based on Motion Co-evolution

Ćurković, Petar; Jerbić, Bojan; Stipančić, Tomislav

doi:10.2507/ijsimm12(1)3.222

Cited by 18 publications

(15 citation statements)

References 22 publications

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“…Dynamic equations using Lagrange equation is [13]: (3) where, M(q) is the matrix of inertia moment, C(q) is the matrix of Coriolis forces, B(q) is input matrix, and A τ (q) is the Jacobian matrix, τ is the input vector which is the torque to the left and right wheels and λ is the additional forces into the system. Given the equations, state space vector is obtained as follows.…”

Section: Two-wheeled Robotmentioning

confidence: 99%

Locating a two-wheeled robot using extended Kalman filter

Javad

Cai

2015

Teh. vjesn.

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Original scientific paper The Kalman filter is a very general method of filtering which can solve problems such as optimal estimation, prediction, noise filtering, and optimal control. A problem with detection of correct path of moving objects is the received noisy data. Therefore, it is possible that the information is incorrectly detected. There are Different methods to extract the correct data from the received information. This paper aims to detect the path of a two-wheeled robot using extended Kalman filter. For this purpose, triangular, circular, elliptical, and Sinusoidal paths were used to explore various scenarios. The results showed that the Kalman filter optimally detects the correct path with less than 3 % error rate. These results also show that error rate related to detect circular and triangular paths has the highest and lowest value, respectively, using the extended Kalman filter; in addition, the results showed that the error rate strongly depends on path changes. Keywords: path detection; the extended Kalman filter tracking; two-wheeled robot Lociranje robota s dva kotača primjenom proširenog Kalman filteraIzvorni znanstveni članak Kalman filter je vrlo općenita metoda filtriranja kojom se mogu riješiti problemi kao što su optimalna procjena, predviđanje, filtriranje buke i optimalna kontrola. Problem koji se javlja kod detekcije ispravne putanje gibajućih predmeta je prijem bučnih podataka. Stoga je moguće da se informacije neispravno pronađu. Postoje razne metode za dobivanje ispravnih podataka iz primljene obavijesti. U ovom radu cilj je otkriti putanju robota s dva kotača primjenom proširenog Kalman filtera. U tu su se svrhu rabile trokutaste, kružne, eliptične i sinusoidne putanje u istraživanju raznih scenarija. Rezultati pokazuju da se Kalmanovim filterom optimalno pronalazi ispravna putanja s manje od 3 % učestalosti pogreške. Ti rezultati također pokazuju da učestalost pogreške kod pronalaženja kružnih i trokutastih putanja ima najvišu i najnižu vrijednost primjenom Kalman filtera; uz to, rezultati su pokazali da učestalost pogreške uvelike ovisi o promjenama putanje.Ključne riječi: obilježavanje proširenim Kalman filterom; pronalaženje putanje; robot s dva kotača

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Section: Two-wheeled Robotmentioning

confidence: 99%

Locating a two-wheeled robot using extended Kalman filter

Javad

Cai

2015

Teh. vjesn.

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“…movement and perform analysis [17,18]. The biggest advantage of this way is that we can observe video many times and thus create environment that is almost identical to real environment including time spent for particular operation.…”

Section: Comparison Of Used Methodsmentioning

confidence: 99%

Ergonomic Analysis of Ophthalmic Nurse Workplace Using 3D Simulation

Herzog¹,

Beharic²,

Beharic³

et al. 2014

Int. j. simul. model.

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The number of work-related musculoskeletal disorders has been increasing in most industries and occupations. Since these injuries impose high costs on employers and society it is important to prevent it through ergonomic assessment and job redesign. The paper presents a research of the workplace ophthalmic nurse regarding strain and stress. In the workplace the Intravenous Fluorescein angiography or fluorescent angiography is made which is a technique for examining the circulation of the retina and choroids using a fluorescent dye and specialized camera. The working procedure is complex and since nurses must assist in several forced positions for longer time ergonomic analyses were made aimed to determine strain and stress at workplace. For assessment of body postures OWAS analysis was performed manually and using computer simulation. The results obtained using computer simulations are comparable to manually performed research for most body positions except for bent and twisted back. Body postures of upper limb, lower limb and neck were exposed as harmful for nurse during working procedure and according to OWAS changes are needed in near future.

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“…2). Since RONNA provides a dual-arm configuration, a special control system based on the evolutionary algorithm to coordinate the movement of two robots developed in [15], is applied. The control algorithm is used to calculate offline trajectories in the planning and simulation phase.…”

Section: Setupmentioning

confidence: 99%

Robotic Application in Neurosurgery Using Intelligent Visual and Haptic Interaction

Jerbić¹,

Nikolić²,

Chudy³

2015

Int. j. simul. model.

Self Cite

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Today, the complexity and high technical requirements of neurosurgical operations are so demanding that modern robotic achievements and advances of accompanied technologies appear as the immanent means, which can significantly improve neurosurgical practice. A novel robotic system (RONNARObotic NeuroNAvigation) for application in neurosurgery is presented. The RONNA consists of two conventional articulated robot arms with a total of 13 degrees of freedom. A rigid and accurate robot is used for precise targeting of planned operating points and a compliant robot is used as operative assistant. A distinctive marker was developed for the purpose of precise localization and registration of the patient's head. A novel visual calibration method is presented. The developed dual arm neurosurgical system enables flexible and reliable application with embedded behaviour based control providing intuitive interaction with surgical team and new possibilities compared to the existing surgical robot solutions.

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Coordination of Robots with Overlapping Workspaces Based on Motion Co-evolution

Cited by 18 publications

References 22 publications

Locating a two-wheeled robot using extended Kalman filter

Locating a two-wheeled robot using extended Kalman filter

Ergonomic Analysis of Ophthalmic Nurse Workplace Using 3D Simulation

Robotic Application in Neurosurgery Using Intelligent Visual and Haptic Interaction

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