Resumo: Este trabalho trata da geração e otimização de trajetórias de um manipulador robótico planar (2D) de três graus de liberdade, num ambiente livre de obstáculos. Visto que a cinemática inversa de braços robóticos é um problema complexo que, em geral, geram múltiplas soluções, otimizam-se, aqui, estas soluções através de algoritmos genéticos (AGs). A função de avaliação do AG tem caráter multi-objetivo, de forma a minimizar os deslocamentos angulares e obter de forma precisa a posição da garra, usando funções desenvolvidas para o ambiente Matlab, tais como, GAOT e PLANMANT, devido a sua facilidade de programação e geração de gráficos. A seguir, foram obtidos resultados através de programa desenvolvido em linguagem C, utilizando a biblioteca GAUL, e tem-se avaliado o desempenho computacional de processamento. E finalmente, para a validação experimental deste estudo, tem-se implementado este procedimento em um manipulador robótico Robix RCS-6 de configuração similar ao modelo simulado. Os resultados mostram que o método implementado é eficiente, computacionalmente rápido e viável em aplicações reais. / Abstract: This work treats of the generation and optimization of trajectories for a planar robotic manipulator (2D) of three degrees of freedom, in free environment obstacles. Since the inverse kinematics of robotic arms are a complex problem that, generally, generate multiple solutions, here are optimized these solutions through genetic algorithms (AGs). The evaluation function of the AG has multi-objective character which minimize the angular displacements and the positional errors, being used functions developed for the Matlab environment, such as, GAOT and PLANMANT, due its compliance of programming and graphics generation. Immediately, results were obtained through program developed in language C, using the GAUL library. The computational processing performance has been evaluated. And finally, for the experimental validation of this study, has been implemented this procedure in a robotic manipulator Robix RCS-6 of similar configuration to the simulated model. The results show that the implemented method is efficient, and computationally fast and viable in real applications. KEYWORDS: Robotic manipulator, Optimal trajectory, Inverse kinematics, Genetic algorithm. / Orientador: Victor Orlando Gamarra Rosado / Coorientador: Francisco José Grandinetti / Banca: Mauro Pedro Peres / Banca: Luiz Octavio Mattos dos Reis / Banca: José Rui Camargo / Banca: Carlos Alberto Chavez / Doutor

A control method is proposed for exercising specific muscles of a human's lower body. This is accomplished using an exoskeleton that imposes active force feedback control. The proposed method involves a combined dynamic model of the musculoskeletal system of the lower-body with the dynamics of pneumatic actuators. The exoskeleton is designed to allow for individual control of mono-articular or bi-articular muscles to be exercised while not inhibiting the subject's range of motion. The control method has been implemented in a 1-Degree of Freedom (DOF) exoskeleton that is designed to resist the motion of the human knee by applying actuator forces in opposition to a specified muscle force profile. In this research, there is a discussion on the model of the human's lower body and how muscles are affected as a function of joint positions. Then it is discussed how to calculate for the forces needed by a pneumatic actuator to oppose the muscles to create the desired muscle force profile at a given joint angles. The proposed exoskeleton could be utilized either for rehabilitation purposes, to prevent muscle atrophy and bone loss of astronauts, or for muscle training in general.

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Abstract In the early days,designer emphasized that human-like robotic hands should have high degree of freedoms(DOFs) and fully simulate all motions of human hands.It makes the system to be too expensive and complex. In recent years, the performance of grasp is no longer depend on the DOFs only after the concept of underactuated is applied. In this article, we discussed the designs and mechanisms of robotic hands and the design principle of underactuated. The SYS-1 underactuated human-like robotic hand uses only six actuator to control ten DOFs, the fingers of SYS-1 consist of underactuated six-bar linkage that simulate human¡¦s fingers motion. The ejection effect is also well controlled. Every finger is an independent module and can be separate or deploy according to the needs. The conduit-tendon system let SYS-1 can work in the water or high temperature environment without any damage. We also analysis the motion characteristic and grasp performance of SYS-1 and compare to the other similar designs.

Industrial robots are very popular in now day’s automation factories, industrial robots can perform jobs that people are not willing or able to perform. Industrial robots can repeat the same work at the exactly same way, resulting a higher quality of production.  Industrial robots can work in several areas, each robot must have a specific tool for each area. This thesis includes design of a gripper tool for an industrial robot for picking and placing different laser notched generator-parts. The product is being designed for the division of electricity in Uppsala University. A gripper tool prototype might be built in the future. The report begins with a theoretical comparison between lifting and gripping techniques for later deciding which technique is most suitable for picking and placing the different parts. A pre-study and a short description about different transporting systems have been made. After the pre-study different concepts were developed, the best suitable concept was selected for further development and final construction. The final design of the gripper tool was used in the robot cell-simulation program ABB Robot Studio for choosing a proper cell design. The gripper tool was designed in light weight material aluminium, and uses electromagnets for picking and releasing the different notched part.  The gripper tool is assembled on an industrial robot from ABB, IRB 7600 with a handling capacity of 150 kg and 3.5m reach. / I dagens automatiserade fabriker är industrirobotar väldigt populära, då industrirobotar kan utföra arbeten som människor inte vill eller kan utföra.  Industrirobotar kan utföra samma arbete flera gånger om på exakt samma sätt, vilket medför en högre kvalitet på produktionen. Industrirobotar kan arbeta inom flera olika områden, för varje område måste industrirobotarna vara utrustade med ett speciellt verktyg. I detta examensarbete designas ett gripdon för en industrirobot som skall plocka och placera olika laserskurna generatordetaljer. Produkten designas för Avdelningen för Elektricitetslära vid Uppsala Universitet. En prototyp av gripdonet kan bli aktuellt i framtiden. Arbetet inleddes med en teoretisk jämförelse mellan olika grepp- och lyfttekniker för att sedan avgöra vilken grepp- respektive lyftteknik passar bäst för plockning och placering av de olika detaljerna. Förstudie och en kort beskrivning av olika transportmetoder ingår. Efter förstudien togs olika möjliga koncept fram för att sedan välja ut det bäst passande konceptet för ytterligare utveckling och en slutlig konstruktion. Den slutliga designen användes seden i robotcellsimuleringsprogrammet ABB Robot Studio för utförandet av experimenten. Gripdonet designades i aluminium och använder elektromagneter som lyftteknik för plockning och placering av de olika skurna plåtdetaljerna. Gripdonet monteras sedan på en industrirobot från ABB, IRB 7600 med lastkapaciteten 150 kg och en räckvidd på 3.5 m.

Emerging advances in robotic cameras, long-range wireless networking, and distributed sensors make feasible a new class of hybrid teleoperated/autonomous robotic remote "observatories" that can allow groups of peoples, via the Internet, to observe, record, and index detailed activity occurred in remote site. Equipped with robotic pan-tilt actuation mechanisms and a high-zoom lens, the camera can cover a large region with very high spatial resolution and allows for observation at a distance. High resolution motion panorama is the most nature data representation. We develop algorithms and protocols for high resolution motion panorama. We discover and prove the projection invariance and achieve real time image alignment. We propose a minimum variance based incremental frame alignment algorithm to minimize the accumulation of alignment error in incremental image alignment and ensure the quality of the panorama video over the long run. We propose a Frame Graph based panorama documentation algorithm to manage the large scale data involved in the online panorama video documentation. We propose a on-demand high resolution panorama video-streaming system that allows on-demand sharing of a high-resolution motion panorama and efficiently deals with multiple concurrent spatial-temporal user requests. In conclusion, our research work on high resolution motion panorama have significantly improve the efficiency and accuracy of image alignment, panorama video quality, data organization, and data storage and retrieving in remote observation using networked robotic cameras.