Thesis (Ph. D.)--University of Adelaide, 1988. / Typescript (Photocopy). Includes paper co-authored by the author as attachment. Includes bibliographical references (leaves 133-140).

Orientador: Edson de Paula Ferreira / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica / Made available in DSpace on 2018-07-13T23:45:43Z (GMT). No. of bitstreams: 1 Silva_JorgeVicenteLopesda_M.pdf: 6182719 bytes, checksum: e4b7bfe60d4781e5ea10c6ce2172417d (MD5) Previous issue date: 1990 / Resumo: Este trabalho apresenta contribuições no sentido de agilizar e otimizar a modelagem geométrica e dinâmica de robôs. A finalidade principal na utilização destes modelos é o desenvolvimento de estratégias de controle mais eficientes, que consigam compensar efeitos indesejáveis, quando é exigido um desempenho superior dos robôs. Estes modelos são de grande complexidade e sua obtenção manual, além de demorada, é extremamente árida e bastante sujeita a erros. Por este motivo, implementamos um sistema para a geração automática de modelos geométricos e modelos dinâmicos com base no formalismo de Lagrange, utilizando recursos para otimização destes modelos. É proposto um algoritmo eficiente para modelagem dinâmica, o qual elimina automaticamente um grande número de redundâncias. Este algoritmo é apresentado à nível de implementação / Abstract: This work presents contributions aiming at time saving and model improvement in the generation of geometric and dynamic robot models. The main purpose is to enable the generation of models suited for use in the development of more efficient control strategies, 50 as to compensa te effects that become undesirable when a better robot performance is required. These are quite complex models and the manual derivation of them is tedious, costly (time-consuming) and often error-prone. 50, it was implemented a system for automatic generation of symbolic geometric and dynamic robot models based in the Lagrange formulation and that also cares about model optimization. It is also proposed an efficient algorithm for dynamic modelling, which automatically eliminates a great number of redundancies. This algorithm is presented in the implementation level / Mestrado / Automação / Mestre em Engenharia Elétrica

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5th IFAC Symposium on Mechatronic Systems, Marriott Boston Cambridge, Cambridge, MA, USA, Sept 13-15, 2010

Over the past few decades the use of industrial robots has increased the efficiency as well as the competitiveness of several sectors. Despite this fact, in many cases robot automation investments are considered to be technically challenging. In addition, for most small and medium-sized enterprises (SMEs) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods of industrial robots are too complex for most technicians or manufacturing engineers, and thus assistance from a robot programming expert is often needed. The hypothesis is that in order to make the use of industrial robots more common within the SME sector, the robots should be reprogrammable by technicians or manufacturing engineers rather than robot programming experts. In this thesis, a novel system for task-level programming is proposed. The user interacts with an industrial robot by giving instructions in a structured natural language and by selecting objects through an augmented reality interface. The proposed system consists of two parts: (i) a multimodal framework that provides a natural language interface for the user to interact in which the framework performs modality fusion and semantic analysis, (ii) a symbolic planner, POPStar, to create a time-efficient plan based on the user's instructions. The ultimate goal of this work in this thesis is to bring robot programming to a stage where it is as easy as working together with a colleague.This thesis mainly addresses two issues. The first issue is a general framework for designing and developing multimodal interfaces. The general framework proposed in this thesis is designed to perform natural language understanding, multimodal integration and semantic analysis with an incremental pipeline. The framework also includes a novel multimodal grammar language, which is used for multimodal presentation and semantic meaning generation. Such a framework helps us to make interaction with a robot easier and more natural. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high-level commands. Interaction with simple voice commands and gestures enables the manufacturing engineer to focus on the task itself, rather than the programming issues of the robot. The second issue addressed is due to inherent characteristics of communication with the use of natural language; instructions given by a user are often vague and may require other actions to be taken before the conditions for applying the user's instructions are met. In order to solve this problem a symbolic planner, POPStar, based on a partial order planner (POP) is proposed. The system takes landmarks extracted from user instructions as input, and creates a sequence of actions to operate the robotic cell with minimal makespan. The proposed planner takes advantage of the partial order capabilities of POP to execute actions in parallel and employs a best-first search algorithm to seek the series of actions that lead to a minimal makespan. The proposed planner can also handle robots with multiple grippers, parallel machines as well as scheduling for multiple product types.

Thesis ( Ph.D.) -- McMaster University, 1998. / Includes bibliographical references (leaves 169-172). Also available via World Wide Web.

Thesis (M.S.)--Virginia Polytechnic Institute and State University, 1993. / Vita. Abstract. Includes bibliographical references (leaves 60-61). Also available via the Internet.

Η σύγχρονη τάση επιβάλει στα ρομπότ να μπορούν πιο εύκολα να προσαρμοστούν στο περιβάλλον. Οι λόγοι που επιβάλλουν κάτι τέτοιο είναι κυρίως λόγοι οικονομίας χρήματος και χρόνου. Για να είναι δυνατόν να μπορεί να προσαρμοστεί το βέλτιστο τρόπο θα πρέπει να μπορεί να λαμβάνει σαν είσοδο πληροφορία από αυτό. Διάφορα είδη αισθητηρίων χρησιμοποιούνται για αυτό το σκοπό. Για τη παρούσα διπλωματική εργασία αναπτύχθηκε ένα σύστημα στερεοσκοπικής όρασης. Η λογική για ένα τέτοιο σύστημα είναι να λειτουργεί σαν τα μάτια του ρομπότ, δηλαδή να εντοπίζει με αυτοματοποιημένο τρόπο τα σημεία στα οποία θα πρέπει να μεταβεί το ρομπότ για να ολοκληρώσει την εκάστοτε εργασία (πιάσιμο αντικειμένου, συγκόλληση κλπ). Πειράματα αναπτύχθηκαν γύρω από το αντικείμενο αυτό, με σκοπό τη συλλογή μετρήσεων διαφόρων σημείων με χρήση κάμερας (3D), προκειμένου να οδηγηθεί το ρομπότ σε αυτά μέσω των σημείων που αναγνώριζε ο αλγόριθμος επεξεργασίας εικόνας. Η υποστήριξη των πειραμάτων αυτών έγινε από το σχεδιασμό και τον προγραμματισμό ενός συστήματος στερεοσκοπικής όρασης για την οδήγηση του ρομπότ στην ολοκλήρωση συγκολλήσεων των εκάστοτε σημείων. / The current trend in robotics concerns the easy adaption in the environment. The reasons for requiring this are mainly economic reasons and time effective processes. In order to help the robot to be adjusted optimally, the second should be able to take as input information from it. Various kinds of sensors are used for this purpose. A stereo vision system was developed in this thesis. The rationale for such a system is to act as the eyes of the robot, e.g. to identify an automated way in which the robot should make motion planning in order to completer to each task (grasping the object, welding etc.). Experiments were developed around the object, in order to collect measurements using different camera points (3D), in order to guide the robot through these points that recognized the image processing algorithm. The supporting of these experiments were the design and planning of a stereo vision system for driving the welding robot in completing the respective points

M. Ing. / This work describes the establishment of an intelligent control system on board an AGV for automatic adaptation to the motions and actions of industrial robots. The movements can represent an assembly sequence or material loading sequence. A relationship is established between the workspaces of the industrial robot and the AGV. The coordinate systems are integrated for the AGV to respond to the movements of the industrial robot in the correct way. The integration of these two different coordinate systems leads to the creation of a common workspace. Within this common workspace, the AGV interacts with the robot using the same reference points. The mathematical analysis and practical implementation of this transient workspace is described. The adaptive control presented allows for an intelligent decision making process to be performed on line with the use of an expert system.