Editorial

2 pages, 176 KiB

Open AccessEditorial

Editorial for Special Issue “Automation and Robotics: Latest Achievements, Challenges and Prospects”

by Pavol Božek, Tibor Krenicky and Yury Nikitin

Appl. Sci. 2021, 11(24), 12039; https://doi.org/10.3390/app112412039 - 17 Dec 2021

Cited by 3 | Viewed by 1558

The determination of this Special Issue topic in the field of automation and robotics was well received by the community of scientists and researchers [...] Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

Research

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18 pages, 9833 KiB

Open AccessArticle

A New Foot Trajectory Planning Method for Legged Robots and Its Application in Hexapod Robots

by Haichuang Xia, Xiaoping Zhang and Hong Zhang

Appl. Sci. 2021, 11(19), 9217; https://doi.org/10.3390/app11199217 - 03 Oct 2021

Cited by 7 | Viewed by 3643

Abstract

Compared with wheeled and tracked robots, legged robots have better movement ability and are more suitable for the exploration of unknown environments. In order to further improve the adaptability of legged robots to complex terrains such as slopes, obstacle environments, and so on, [...] Read more.

Compared with wheeled and tracked robots, legged robots have better movement ability and are more suitable for the exploration of unknown environments. In order to further improve the adaptability of legged robots to complex terrains such as slopes, obstacle environments, and so on, this paper makes a new design of the legged robot’s foot sensing structure that can successfully provide accurate feedback of the landing information. Based on this information, a new foot trajectory planning method named three-element trajectory determination method is proposed. For each leg in one movement period, the three elements are the start point in the support phase, the end point in the support phase, and the joint angle changes in the transfer phase where the first two elements are used to control the height, distance, and direction of the movement, and the third element is used make decisions during the lifting process of the leg. For the support phase, the trajectory is described in Cartesian space, and a spline of linear function with parabolic blends is used. For the transfer phase, the trajectory is described in joint-space, and the joint angle function is designed as the superposition of the joint angle reverse-chronological function and the interpolation function which is obtained based on joint angle changes. As an important legged robot, a hexapod robot that we designed by ourselves with triangle gait is chosen to test the proposed foot trajectory planning method. Experiments show that, while the foot’s landing information can be read and based on the three-element trajectory planning method, the hexapod robot can achieve stable movement even in very complex scenes. Although the experiments are performed on a hexapod robot, our method is applicable to all forms of legged robots. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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16 pages, 4783 KiB

Open AccessArticle

Determination of the Function of the Course of the Static Property of PAMs as Actuators in Industrial Robotics

by Darina Matisková, Tomáš Čakurda, Daniela Marasová and Alexander Balara

Appl. Sci. 2021, 11(16), 7288; https://doi.org/10.3390/app11167288 - 08 Aug 2021

Cited by 3 | Viewed by 1437

Abstract

Current efforts are focused on assembling new constructions while applying non-conventional actuators, for example, artificial pneumatic muscles, in engineering manufacturing processes. The reason is to eliminate stiffness and inflexibility of equipment structures that make sharing the working space of the technological equipment complicated. [...] Read more.

Current efforts are focused on assembling new constructions while applying non-conventional actuators, for example, artificial pneumatic muscles, in engineering manufacturing processes. The reason is to eliminate stiffness and inflexibility of equipment structures that make sharing the working space of the technological equipment complicated. This article presents the results of experimental measurements of pressures in artificial muscles and rotations of the actuator with artificial muscles at various loads, using a testing device of an antagonistic actuator. The measurement results were used to create the function of the course of the static property of the antagonistic actuator with artificial muscles of the Festo type and to determine a mathematical model of the actuator dynamics, while applying the method of least squares. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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15 pages, 6058 KiB

Open AccessArticle

Methods of Pre-Identification of TITO Systems

by Milan Saga, Karel Perutka, Ivan Kuric, Ivan Zajačko, Vladimír Bulej, Vladimír Tlach and Martin Bezák

Appl. Sci. 2021, 11(15), 6954; https://doi.org/10.3390/app11156954 - 28 Jul 2021

Cited by 1 | Viewed by 1776

Abstract

The content of this article is the presentation of methods used to identify systems before actual control, namely decentralized control of systems with Two Inputs, Two Outputs (TITO) and with two interactions. First, theoretical assumptions and reasons for using these methods are given. [...] Read more.

The content of this article is the presentation of methods used to identify systems before actual control, namely decentralized control of systems with Two Inputs, Two Outputs (TITO) and with two interactions. First, theoretical assumptions and reasons for using these methods are given. Subsequently, two methods for systems identification are described. At the end of this article, these specific methods are presented as the pre-identification of the chosen example. The Introduction part of the paper deals with the description of decentralized control, adaptive control, decentralized control in robotics and problem formulation (fixing the identification time at the existing decentralized self-tuning controller at the beginning of control and at the beginning of any set-point change) with the goal of a new method of identification. The Materials and methods section describes the used decentralized control method, recursive identification using approximation polynomials and least-squares with directional forgetting, recursive instrumental variable, self-tuning controller and suboptimal quadratic tracking controller, so all methods described in the section are those ones that already exist. Another section, named Assumptions, newly formulates the necessary background information, such as decentralized controllability and the system model, for the new identification method formulated in Pre-identification section. This section is followed by a section showing the results obtained by simulations and in real-time on a Coupled Drives model in the laboratory. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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17 pages, 2964 KiB

Open AccessArticle

Chimney Sweeping Robot Based on a Pneumatic Actuator

by Peter Ján Sinčák, Ivan Virgala, Michal Kelemen, Erik Prada, Zdenko Bobovský and Tomáš Kot

Appl. Sci. 2021, 11(11), 4872; https://doi.org/10.3390/app11114872 - 26 May 2021

Cited by 9 | Viewed by 3136

Abstract

The need of improving the quality of professions led to the idea of simplification of processes during chimney sweeping. These processes have been essentially the same for tens of years. The goal of this paper is to bring an automation element into the [...] Read more.

The need of improving the quality of professions led to the idea of simplification of processes during chimney sweeping. These processes have been essentially the same for tens of years. The goal of this paper is to bring an automation element into the chimney sweeping process, making the job easier for the chimney sweeper. In this paper, an essentially in-pipe robot is presented, which uses brushes to move while simultaneously cleaning the chimney or pipeline. The problem of the robot motion was reduced using an in-pipe robot due to the environments and obstacles that the robot has to face. An approach of using a pneumatic actuator for motion is presented along with the mechanical design. The next part of this paper is focused on the mathematical model of the robot motion, as well as its simulation and testing in the experimental pipeline. The simulations were compared with the experimental measurements and a few analyses were conducted describing the simulation model and its differences with the real robot, as well as considering certain parameters and their impact on the performance of the robot. The results are discussed at the end of the paper. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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28 pages, 11645 KiB

Open AccessArticle

Estimation of Grey-Box Dynamic Model of 2-DOF Pneumatic Actuator Robotic Arm Using Gravity Tests

by Monika Trojanová, Tomáš Čakurda, Alexander Hošovský and Tibor Krenický

Appl. Sci. 2021, 11(10), 4490; https://doi.org/10.3390/app11104490 - 14 May 2021

Cited by 20 | Viewed by 4567

Abstract

This article describes the dynamics of a manipulator with two degrees of freedom, while the dynamic model of the manipulator’s arm is derived using Lagrangian formalism, which considers the difference between the kinetic and potential energy of the system. The compiled dynamic model [...] Read more.

This article describes the dynamics of a manipulator with two degrees of freedom, while the dynamic model of the manipulator’s arm is derived using Lagrangian formalism, which considers the difference between the kinetic and potential energy of the system. The compiled dynamic model was implemented in Matlab, taking into account the physical parameters of the manipulator and friction term. Physical parameters were exported from the 3D CAD model. A scheme (model) was compiled in the Simulink, which was used for the subsequent validation process. The outputs of the validations were compared with measured data of joint angles from the system (expected condition) obtained by using gravity tests. For obtaining better results were parameters of the model optimizing by using the Trust Region Algorithm for Nonlinear Least Squares optimization method. Therefore, the aim of the research described in the article is the comparison of the model with the parameters that come from CAD and its improvement by estimating the parameters based on gravitational measurements. The model with estimated parameters achieved an improvement in the results of the Normal Root Mean Square Error compared to the model with CAD parameters. For link 1 was an improvement from 28.49% to 67.93% depending on the initial joint angle, and for link 2, from 63.84% to 66.46%. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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16 pages, 7373 KiB

Open AccessArticle

CNN Training Using 3D Virtual Models for Assisted Assembly with Mixed Reality and Collaborative Robots

by Kamil Židek, Ján Piteľ, Michal Balog, Alexander Hošovský, Vratislav Hladký, Peter Lazorík, Angelina Iakovets and Jakub Demčák

Appl. Sci. 2021, 11(9), 4269; https://doi.org/10.3390/app11094269 - 08 May 2021

Cited by 20 | Viewed by 3213

Abstract

The assisted assembly of customized products supported by collaborative robots combined with mixed reality devices is the current trend in the Industry 4.0 concept. This article introduces an experimental work cell with the implementation of the assisted assembly process for customized cam switches [...] Read more.

The assisted assembly of customized products supported by collaborative robots combined with mixed reality devices is the current trend in the Industry 4.0 concept. This article introduces an experimental work cell with the implementation of the assisted assembly process for customized cam switches as a case study. The research is aimed to design a methodology for this complex task with full digitalization and transformation data to digital twin models from all vision systems. Recognition of position and orientation of assembled parts during manual assembly are marked and checked by convolutional neural network (CNN) model. Training of CNN was based on a new approach using virtual training samples with single shot detection and instance segmentation. The trained CNN model was transferred to an embedded artificial processing unit with a high-resolution camera sensor. The embedded device redistributes data with parts detected position and orientation into mixed reality devices and collaborative robot. This approach to assisted assembly using mixed reality, collaborative robot, vision systems, and CNN models can significantly decrease assembly and training time in real production. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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15 pages, 3458 KiB

Open AccessArticle

The Influence of Automated Machining Strategy on Geometric Deviations of Machined Surfaces

by Ján Varga, Teodor Tóth, Peter Frankovský, Ľudmila Dulebová, Emil Spišák, Ivan Zajačko and Jozef Živčák

Appl. Sci. 2021, 11(5), 2353; https://doi.org/10.3390/app11052353 - 06 Mar 2021

Cited by 11 | Viewed by 2228

Abstract

This paper deals with various automated milling strategies and their influence on the accuracy of produced parts. Among the most important factors for surface quality is the automated milling strategy. Milling strategies were generated from two different programs, CAM system SolidCAM, with the [...] Read more.

This paper deals with various automated milling strategies and their influence on the accuracy of produced parts. Among the most important factors for surface quality is the automated milling strategy. Milling strategies were generated from two different programs, CAM system SolidCAM, with the help of workshop programming in the control system Heidenhain TNC 426. In the first step, simulations of different toolpaths were conducted. Using geometric tolerance is becoming increasingly important in robotized production, but its proper application requires a deeper understanding. This article presents the measurement of selected planes of robotized production to evaluate their flatness, parallelism and perpendicularity deviations after milling on the coordinate measuring machine Carl Zeiss Contura G2. Total average deviations, including all geometric tolerances, were 0.020 mm for SolidCAM and 0.016 mm for Heidenhain TNC 426. The result is significantly affected by the flatness of measured planes, where the overlap parameter of the tools has a significant impact on the flatness of the surface. With interchangeable cutter plate tools, it is better to use higher overlap to achieve better flatness. There is a significant difference in production time, with SolidCAM 25 min and 30 s, and Heidenhain 48 min and 19 s. In accordance with these findings, the SolidCAM system is more suitable for production. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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15 pages, 5873 KiB

Open AccessArticle

An FPGA Based Energy Efficient DS-SLAM Accelerator for Mobile Robots in Dynamic Environment

by Yakun Wu, Li Luo, Shujuan Yin, Mengqi Yu, Fei Qiao, Hongzhi Huang, Xuesong Shi, Qi Wei and Xinjun Liu

Appl. Sci. 2021, 11(4), 1828; https://doi.org/10.3390/app11041828 - 18 Feb 2021

Cited by 10 | Viewed by 3417

Abstract

The Simultaneous Localization and Mapping (SLAM) algorithm is a hotspot in robot application research with the ability to help mobile robots solve the most fundamental problems of “localization” and “mapping”. The visual semantic SLAM algorithm fused with semantic information enables robots to understand [...] Read more.

The Simultaneous Localization and Mapping (SLAM) algorithm is a hotspot in robot application research with the ability to help mobile robots solve the most fundamental problems of “localization” and “mapping”. The visual semantic SLAM algorithm fused with semantic information enables robots to understand the surrounding environment better, thus dealing with complexity and variability of real application scenarios. DS-SLAM (Semantic SLAM towards Dynamic Environment), one of the representative works in visual semantic SLAM, enhances the robustness in the dynamic scene through semantic information. However, the introduction of deep learning increases the complexity of the system, which makes it a considerable challenge to achieve the real-time semantic SLAM system on the low-power embedded platform. In this paper, we realized the high energy-efficiency DS-SLAM algorithm on the Field Programmable Gate Array (FPGA) based heterogeneous platform through the optimization co-design of software and hardware with the help of OpenCL (Open Computing Language) development flow. Compared with Intel i7 CPU on the TUM dataset, our accelerator achieves up to 13× frame rate improvement, and up to 18× energy efficiency improvement, without significant loss in accuracy. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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17 pages, 3944 KiB

Open AccessArticle

Industrial Robot Positioning Performance Measured on Inclined and Parallel Planes by Double Ballbar

by Ivan Kuric, Vladimír Tlach, Milan Sága, Miroslav Císar and Ivan Zajačko

Appl. Sci. 2021, 11(4), 1777; https://doi.org/10.3390/app11041777 - 17 Feb 2021

Cited by 15 | Viewed by 2648

Abstract

Renishaw Ballbar QC20–W is primarily intended for diagnostics of CNC machine tools, but it is also used in connection with industrial robots. In the case of standard measurement, when the measuring plane is parallel to the robot base, not all robot joints move. [...] Read more.

Renishaw Ballbar QC20–W is primarily intended for diagnostics of CNC machine tools, but it is also used in connection with industrial robots. In the case of standard measurement, when the measuring plane is parallel to the robot base, not all robot joints move. The purpose of the experiments of the present article was to verify the hypothesis of the motion of all the robot joints when the desired circular path is placed on an inclined plane. In the first part of the conducted experiments is established hypothesis is confirmed, through positional analysis on a simulation model of the robot. They are then carried out practical measurements being evaluated the influence of individual robot joints to deform the circular path, shown as a polar graph. As a result, it is found that in the case of the robot used, changing the configuration of the robot arm has the greatest effect on changing the shape of the polar graph. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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15 pages, 4198 KiB

Open AccessArticle

Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

by Štefan Ondočko, Jozef Svetlík, Michal Šašala, Zdenko Bobovský, Tomáš Stejskal, Jozef Dobránsky, Peter Demeč and Lukáš Hrivniak

Appl. Sci. 2021, 11(3), 1203; https://doi.org/10.3390/app11031203 - 28 Jan 2021

Cited by 10 | Viewed by 2292

Abstract

The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks [...] Read more.

The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model’s simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model’s existence in those three environments has enabled us to compare the data and check the models’ structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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18 pages, 4928 KiB

Open AccessArticle

Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems

by Lazher Zaidi, Juan Antonio Corrales Ramon, Laurent Sabourin, Belhassen Chedli Bouzgarrou and Youcef Mezouar

Appl. Sci. 2020, 10(23), 8736; https://doi.org/10.3390/app10238736 - 06 Dec 2020

Cited by 8 | Viewed by 3449

Abstract

In the grasping and manipulation of 3D deformable objects by robotic hands, the physical contact constraints between the fingers and the object have to be considered in order to validate the robustness of the task. Nevertheless, previous works rarely establish contact interaction models [...] Read more.

In the grasping and manipulation of 3D deformable objects by robotic hands, the physical contact constraints between the fingers and the object have to be considered in order to validate the robustness of the task. Nevertheless, previous works rarely establish contact interaction models based on these constraints that enable the precise control of forces and deformations during the grasping process. This paper considers all steps of the grasping process of deformable objects in order to implement a complete grasp planning pipeline by computing the initial contact points (pregrasp strategy), and later, the contact forces and local deformations of the contact regions while the fingers close over the grasped object (grasp strategy). The deformable object behavior is modeled using a nonlinear isotropic mass-spring system, which is able to produce potential deformation. By combining both models (the contact interaction and the object deformation) in a simulation process, a new grasp planning method is proposed in order to guarantee the stability of the 3D grasped deformable object. Experimental grasping experiments of several 3D deformable objects with a Barrett hand (3-fingered) and a 6-DOF industrial robotic arm are executed. Not only will the final stable grasp configuration of the hand + object system be obtained, but an arm + hand approaching strategy (pregrasp) will also be computed. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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24 pages, 7706 KiB

Open AccessArticle

Design of a Mechanical Part of an Automated Platform for Oblique Manipulation

by Miroslav Blatnický, Ján Dižo, Milan Sága, Juraj Gerlici and Erik Kuba

Appl. Sci. 2020, 10(23), 8467; https://doi.org/10.3390/app10238467 - 27 Nov 2020

Cited by 38 | Viewed by 1920

Abstract

Handling machines are increasingly being used in all sectors of the industry. Knowledge of the theory of transport and handling machines are basic prerequisites for their further technical development. Development in the field of manipulators is reflected not only in their high technical [...] Read more.

Handling machines are increasingly being used in all sectors of the industry. Knowledge of the theory of transport and handling machines are basic prerequisites for their further technical development. Development in the field of manipulators is reflected not only in their high technical level, but also in increasing safety and economy. The article presents results of research focused on the complete engineering design of a manipulator, which will serve as a mean of the oblique transport of pelletised goods. The manipulator takes the form of a platform moving between two destinations by means of an electromotor. The engineering design of the platform including the track and a working principle is described. The design includes analytical and numerical calculations of main loaded components of the platform. Extensive functional and dimensional calculations serve as the base for preparation of the technical documentation. An important step will be the creation of a parametric model of the force and moment load acting on a platform drivetrain. Based on this, optimal parameters of an electromotor and its dimensional calculation are performed. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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16 pages, 6754 KiB

Open AccessArticle

Recognition of Perspective Distorted QR Codes with a Partially Damaged Finder Pattern in Real Scene Images

by Ladislav Karrach, Elena Pivarčiová and Pavol Bozek

Appl. Sci. 2020, 10(21), 7814; https://doi.org/10.3390/app10217814 - 04 Nov 2020

Cited by 14 | Viewed by 4542

Abstract

QR (Quick Response) codes are one of the most famous types of two-dimensional (2D) matrix barcodes, which are the descendants of well-known 1D barcodes. The mobile robots which move in certain operational space can use information and landmarks from environment for navigation and [...] Read more.

QR (Quick Response) codes are one of the most famous types of two-dimensional (2D) matrix barcodes, which are the descendants of well-known 1D barcodes. The mobile robots which move in certain operational space can use information and landmarks from environment for navigation and such information may be provided by QR Codes. We have proposed algorithm, which localizes a QR Code in an image in a few sequential steps. We start with image binarization, then we continue with QR Code localization, where we utilize characteristic Finder Patterns, which are located in three corners of a QR Code, and finally we identify perspective distortion. The presented algorithm is able to deal with a damaged Finder Pattern, works well for low-resolution images and is computationally efficient. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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Review

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14 pages, 4982 KiB

Open AccessReview

Automation and Robotization of Underground Mining in Poland

by Łukasz Bołoz and Witold Biały

Appl. Sci. 2020, 10(20), 7221; https://doi.org/10.3390/app10207221 - 16 Oct 2020

Cited by 34 | Viewed by 5600

Abstract

The article concerns the condition of automation and robotization of underground mining in Poland. Attention has been focused on the specific character of the mining industry. This limits the possibility of using robotization, and sometimes even the mechanization of certain processes. In recent [...] Read more.

The article concerns the condition of automation and robotization of underground mining in Poland. Attention has been focused on the specific character of the mining industry. This limits the possibility of using robotization, and sometimes even the mechanization of certain processes. In recent years, robotic and automated machines and machine system solutions have been developed and applied in Poland. They are autonomous to a various degree, depending on the branch. The type of automation and artificial intelligence depends on the specific use. Some examples presently being used include the MIKRUS automated longwall system and autonomous device(s) for breaking rocks or mining rescue work. In Poland, fully automated plow systems produced by foreign companies are also used. Companies in Poland and international research centers are also actively engaged in the development of underwater and space mining. where robotization is of key importance. Research is also being undertaken by Robotics in Mining, euRobotics and PERASPERA as well as Space Mining Conference. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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Other

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13 pages, 1861 KiB

Open AccessLetter

Smart Building Surveillance System as Shared Sensory System for Localization of AGVs

by Petr Oščádal, Daniel Huczala, Jan Bém, Václav Krys and Zdenko Bobovský

Appl. Sci. 2020, 10(23), 8452; https://doi.org/10.3390/app10238452 - 27 Nov 2020

Cited by 8 | Viewed by 1858

Abstract

The objective of this study is to extend the possibilities of robot localization in a known environment by using the pre-deployed infrastructure of a smart building. The proposed method demonstrates a concept of a Shared Sensory System for the automated guided vehicles (AGVs), [...] Read more.

The objective of this study is to extend the possibilities of robot localization in a known environment by using the pre-deployed infrastructure of a smart building. The proposed method demonstrates a concept of a Shared Sensory System for the automated guided vehicles (AGVs), when already existing camera hardware of a building can be utilized for position detection of marked devices. This approach extends surveillance cameras capabilities creating a general sensory system for localization of active (automated) or passive devices in a smart building. The application is presented using both simulations and experiments for a common corridor of a building. The advantages and disadvantages are stated. We analyze the impact of the captured frame’s resolution on the processing speed while also using multiple cameras to improve the accuracy of localization. The proposed methodology in which we use the surveillance cameras in a stand-alone way or in a support role for the AGVs to be localized in the environment has a huge potential utilization in the future smart buildings and cities. The available infrastructure is used to provide additional features for the building control unit, such as awareness of the position of the robots without the need to obtain this data directly from the robots, which would lower the cost of the robots themselves. On the other hand, the information about the location of a robot may be transferred bidirectionally between robots and the building control system to improve the overall safety and reliability of the system. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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14 pages, 4238 KiB

Open AccessLetter

Camera-Based Method for Identification of the Layout of a Robotic Workcell

by Daniel Huczala, Petr Oščádal, Tomáš Spurný, Aleš Vysocký, Michal Vocetka and Zdenko Bobovský

Appl. Sci. 2020, 10(21), 7679; https://doi.org/10.3390/app10217679 - 30 Oct 2020

Cited by 9 | Viewed by 2923

Abstract

In this paper, a new method for the calibration of robotic cell components is presented and demonstrated by identification of an industrial robotic manipulator’s base and end-effector frames in a workplace. It is based on a mathematical approach using a Jacobian matrix. In [...] Read more.

In this paper, a new method for the calibration of robotic cell components is presented and demonstrated by identification of an industrial robotic manipulator’s base and end-effector frames in a workplace. It is based on a mathematical approach using a Jacobian matrix. In addition, using the presented method, identification of other kinematic parameters of a robot is possible. The Universal Robot UR3 was later chosen to prove the working principle in both simulations and experiment, with a simple repeatable low-cost solution for such a task—image analysis to detect tag markers. The results showing the accuracy of the system are included and discussed. Full article

(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects)

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