The paper deals with the generation of optimal trajectories for industrial robots in machining and additive manufacturing applications. proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits kinematic redundancy that is often present these applications optimize execution trajectory. At same time, robot kinematics dynamics constraints are respected collisions avoided. To reduce computational burden, task workspace discretized enabling use...

With the ongoing Industry 4.0 (I4.0) revolution, plant management and supervision play a key role in development (re-)design of industrial plants. In arising scenarios, need to coordinate human workers autonomous systems, sharing same environment, teaming together, becomes fundamental requirement. Indeed, even though automation standard assembly lines has reached high efficiency reliability, for complex new applications, certain amount failure must be considered future addressing. This paper...

Performing an open-loop movement, or docking, for industrial mobile robot (IMR), is a common necessary procedure when relying on environmental sensors not possible. This precision and outcome, solely depend the IMR forward kinematic odometry correctness, which tied to kinematics parameters, depending kind. Calibrating parameters of time consuming mandatory procedure, since mechanical tolerances assembly may introduce large variation from nominal parameters. Furthermore, calibration...

Process planning of multi-robot cells is usually a manual and time consuming activity, based on trials-and-errors. A co-manipulation problem analysed, where one robot handles the work-piece performs task it method to find optimal pose proposed. The method, combination Whale Optimization Algorithm Ant Colony algorithm, minimize performance index while taking into account technological kinematics constraints. evaluates process accuracy considering transmission elasticity, backslashes distance...

The precise localization of mobile robots in unstructured environments is utmost importance for many industrial and field applications, especially when the robot part a more complex kinematic chain, such as manipulator. Being able to precisely localize affects outcome tasks that rely on an open-loop computation, work-station docking procedures. To achieve repeatable positioning, generally onboard sensors, most commonly 2D laser scanners, whose readings are subjected noise numerous disturbing...

The precise localization of mobile robots is utmost importance for many industrial applications, especially when the robot part a more complex kinematic chain, such as in manipulator. Furthermore, hugely affects outcome tasks that rely on an open-loop computation, work-station docking procedures. To achieve repeatable and positioning, generally onboard sensors, most commonly 2D laser scanners, whose readings are subjected to noise numerous disturbing factors ( e.g. , materials reluctance)....

The synchronous control of multiple autonomous mobile robots(AMR) is a trending topic in research nowadays, due to the significant amount related topics and interest drawn from logistic industrial world. cooperation AMRs enables resolve tasks such as payload deliv-ering transportation, cases where mass or bulkiness are abundant for single AMR. Managing scenarios with can raise problems terms trajectory feasibility, constraints satisfiability during navigation controllability. In this work,...

Fiducial markers are used in a broad spectrum of applications to tag objects visually and estimate their pose using camera sensor. Their flexibility, simplicity, cost-effectiveness make them relevant research setups experiments. While the detection estimation frequency related computation capability machine; high frame-rate cameras high-resolution shown harden recognition rate. To this aim, we provide dynamic region-of-interest(ROI) based filter for inputted images order decrease...

Human-Robot collaborative transportation is a promising technology that combines the strength of humans and robots. The most common approaches rely on methodologies exploit force-sensing. However, drawbacks are multiple. First, magnitude force applied might be limited to avoid damages. Then, measurements unidirectional according material properties; e.g., compression forces not measurable for fabrics. This paper proposes an approach based estimation deformation state manipulated object from...

In this paper, we address power control in a wireless cellular network where multiple mobile users are served by set of base stations, one per cell. Their reference station has then to their transmission so as maximize the level service measured terms throughput. Interference due communication devices on same channel is coupling decisions all stations network. We propose distributed algorithm based proximal minimization that makes reach consensus solution guarantees an optimal throughput for...

Calibrating the kinematic parameters of a mobile robot is time consuming and mandatory procedure, since mechanical tolerances assembly procedures may introduce large inaccuracy in nominal parameters. A small error calibration might lead to severe inconsistencies tasks that rely on precise positioning, such as localization, mapping navigation general. In wheeled this consists estimating odometry parameters, are required convert wheel encoder ticks relative motion base local plane, for then...