Advances in Robot Design and Intelligent Control: by Aleksandar Rodić, Theodor Borangiu

By Aleksandar Rodić, Theodor Borangiu

This publication offers the court cases of the twenty fifth foreign convention on Robotics in Alpe-Adria-Danube quarter, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2d, 2016. in accordance with the culture of the development, RAAD 2016 coated all of the very important parts of analysis and innovation in new robotic designs and clever robotic regulate, with papers together with clever robotic movement regulate; robotic imaginative and prescient and sensory processing; Novel layout of robotic manipulators and grippers; robotic functions in production and companies; independent platforms, humanoid and jogging robots; Human–robot interplay and collaboration; Cognitive robots and emotional intelligence; clinical, human-assistive robots and prosthetic layout; Robots in building and humanities, and Evolution, schooling, criminal and social problems with robotics. For the 1st time in RAAD historical past, the subjects cloud robots, felony and moral matters in robotics in addition to robots in arts have been integrated within the technical application. The ebook is a important source for researchers in fields of robotics, engineers who enforce robot ideas in production, providers and healthcare, and master’s and Ph.D. scholars engaged on robotics projects.

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In the experiment the robot was using an environment adaptation technique described in [6] to maintain contact with a flat surface. A half-sphere shape was drawn on the surface as a guide to the user. A person coaching the robot is depicted in Fig. 1. The task of the user was to modify the initial motion to the half-sphere shape, leave it a few periods, and then try and achieve a straight left-right pattern. Only xp direction of motion was modified with coaching. The frequency of motion was constant.

Control 29, 57–70 (2005) 6. : Learning robot force/position control for repetitive high speed applications with unknown non-linear contact stiffness. PAMM 15, 65–66 (2015) 7. : Robot Force Control. Springer Science & Business Media, New York (1999) 8. : Design procedure for a learning feedforward controller. In: Proceedings of the First IFAC Conference on Mechatronic Systems, pp. 955–960 (2000) On-Line Modifications of Robotic Trajectories: Learning, Coaching and Force Vs. si Abstract. Robotic coaching is a process of modifying the motion of a robot during execution through human intervention, in a manner of a coach.

Assuming stable force control, the force error at original speed is close to zero and the memory trajectory is trained within a few iterations. Due to the limited dynamics of the force controller further learning will not improve the result. By comparing this method with a P–type ILC one can easily see, that the learning gain Φ is equal to 1. So for long term learning this is rather aggressive and would lead to an unstable behaviour, as discussed in [4]. 2 Anticipatory P–type Learning If it is necessary to further decrease the error a combination of the modified force control learning law from Sect.

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