The paper focuses on the stiffness modeling of robotic manipulators with gravity compensators. The main attention is paid to the development of the stiffness model of a spring-based compensator located between sequential links of a serial structure. The derived model allows us to describe the compensator as an equivalent non-linear virtual spring integrated in the corresponding actuated joint. ...

Learning robot control, a subclass of the field of learning control, refers to the process of acquiring a sensory-motor control strategy for a particular movement task and movement system by trial and error. Learning control is usually distinguished from adaptive control (see ADAPTIVE CONTROL) in that the learning system is permitted to fail during the process of learning, while adaptive contro...

Development on the design concept using OmniWheels to provide three degree-of-freedom (d.o.f) in a single spherical joint is presented in this paper. The purpose of this design is to provide the industrial robots that have limited movement flexibility with additional d.o.f in order to carry tasks that require complicated trajectories. In addition, this compact single joint will be installed as ...

The fields of multi-robot and multi-agent systems represent active and topical research themes. Their results can be important for several areas, this paper considering the industrial application. The possibility to solve through robot cooperation an assembly process is discussed, the proposed approach using an agent based solution. Some theoretical and practical issues on robot coordination ar...

This paper proposes a development approach to industrial robot programming, that includes: a truly high level and declarative language; an easy-to-use frontend; an intermediate representation; an automatic generator of the robot code generators. So, we introduce a new paradigm to program industrial robots, that focus on the modeling of the system, rather than on the robot. It will improve the p...

With the advance in IT technology sensors and processing power exist to achieve fully automated robot programming in industrial tasks. This paper reports on the EU-project FlexPaint, which devised a methodology to automatically generate robot programs for spray painting of unknown parts. The solution uses four steps: laser triangulation sensing, geometric feature detection, tool path planning, ...

Conventional programming methods require the user to learn the syntax and semantics of a proprietary robot programming language and to debug the program by iteratively editing, compiling, and executing the program. If the task to be performed by the robot requires sensor feedback (e.g., force or touch), the programmer must speculate on the proper sensor values and guardedly wait by the “emergen...

Operational space control of industrial robots is addressed in this document. We analyze a two-loop hierarchical control with the resolved motion rate controller (RMRC) as outer loop and the joint velocity PI controller as inner loop; the latter is the typical velocity controller used in industrial robots. We prove, by the first time, that these simple controllers make the solutions of the clos...

Learning control refers to the process of acquiring a control strategy for a particular control system and a particular task by trial and error. It is usually distinguished from adaptive control [1] in that the learning system is permitted to fail during the process of learning, resembling how humans and animals acquire new movement strategies. In contrast, adaptive control emphasizes single tr...

This paper overviews two recently completed vision systems (a rock sampling system for planetary rovers and a bin-picking system for industrial robots). Then, we will examine the reason why these two systems have different architectures although their goals are roughly same, picking up something by visual observation. Based on this discussion, we will develop the task-oriented vision paradigm, ...