The safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet requirements been encountered owing the absence compliance in robot actuators. Pneumatic muscle considered be a basic actuator and offers advantage intrinsic elasticity achieve joint compliance. In this study, actuated by pneumatic actively utilized enhance human during collisions. To end, authors present novel approach control associated positions...

Safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements been encountered owing the absence compliance in robot actuators. Pneumatic muscle (PM) considered be a basic actuator and offers advantage intrinsic elasticity achieve joint compliance. In this paper, actuated by PM actively utilized enhance human during collisions. To end, authors present novel approach control associated positions...

Robotic manipulators require contact force sensing capabilities to sense the between manipulator and an object. Specifically, for humans robots coexist in work environment, robot must be able detect external applied by a human. This study presents new intrinsic method that can obtain accurate information of human during human–robot interaction. The employs cover, which is typically utilized manipulators. Unlike conventional methods, six-axis force/torque sensor placed cover link manipulator....

In this study, we propose a tomato maturity estimation approach based on deep neural network. Tomato images were obtained using an RGB camera installed monitoring robot and samples cropped to generate dataset with which train the classification model. The model is trained cross-entropy loss mean–variance loss, can implicitly provide label distribution knowledge. For continuous in test stage, output probability of four classes calculated as expected (normalized) value. Our results demonstrate...

An intelligent bed robot system (IBRS) is proposed to help the elderly and disabled for their independent life in bed. The IBRS a special equipped with two arms an array of pressure sensors attached onto mattress. distribution on mattress used estimate pose patient, appropriate assistance provided by

In recent years, human-robot cooperation has enhanced productivity and achieved high payload, speed, accuracy. Integrating typical industrial robots in is challenging because their arms may cause serious injuries to humans during a collision due malfunction or errors robot operators. Therefore, counterbalance that are capable of counterbalancing the gravitational torques mass have been developed decrease required capacity motors speeds these robots. this research, we propose an advanced...

Pneumatic muscle has many advantages such as elasticity, high power and structural similarity to a living thing's muscle. There been researches control robot actuated by pneumatic muscles, but conventional theories are hard apply on real plants because of their assumptions disregards muscle's physical aspects like size its controller. Here, the new method for saving space which is occupied controllers operate muscles proposed. Actually there easy way using commercial proportional pressure...

Pneumatic muscle has many advantages such as elasticity, high power and structural similarity to a living thing's muscle. There have been researches control robot actuated by pneumatic muscles, but conventional theories are hard apply on real plants because of their assumptions disregards muscle's physical aspects like size its controller. Here, the new method for saving space which is occupied controllers operate muscles proposed. Actually there easy way using commercial proportional...

Currently, most of robots are actuated by motors. Actuation using motors necessarily requires gears to increase their power, and gear has demerit making noise backlash effect. Motor is not suitable for robot having elastic motion either. On the other hand, pneumatic muscle many advantages such as elasticity, high power structural similarity a living thing's comparing with motor, so muscles was developed achieve actuator's merits even though developing PMR (pneumatic robot) difficulties...

There is an increasing need for manufacturing systems to produce batches in small quantities. Such are significantly difficult develop with conventional automation equipment. Recently, several research groups have applied industrial dual‐arm robots cell production lines. A synchronisation method necessary the process when work a shared workspace. Conventional factories do not this because main control system operates all machines or robots. However, intended application developed robot...

A dual arm robot is one of the most popular issue on robotic field. Because a has two arms like humans, it can conduct complex handling task and jigless assembly which cannot be performed by single robot. Also, expected to substitute for humans do better performance than in industrial manufacturing. In paper, we proposed system with mobile platform automatic electrical devices was developed through kinematic dynamic analysis. Kinematic analysis workspace carried out specification.

This paper proposes a robust method to estimate sound direction for mobile robot interface. In contrast other methods, the proposed estimates at intervals of short time deal with deterioration by movement source or robot. The two discrete Kalman filter and delay arrival (TDOA) using generalized cross-correlation (GCC), are combined quantifying reliability TDOA. combination prevents low power signals, noise, reverberation because efficiently filters out such effects. result experiments, in...

Extensive research is being conducted on using robots to automate harvest. However, most of the existing focused realization harvesting a single robot, and there have been very few studies transporting crops from smart-greenhouse perspective. In this study, we demonstrate that work efficiency higher when plurality are used in tandem for smart greenhouse, compared robot used. The speeds these modeled accordance with facility environment. operating speed group comprising only derived....

This paper introduce a state classification method for detecting falling of biped robot. The uses support vector machine (SVM) to classify the state. input SVM are magnitude acceleration, position center pressure (CoP) in x and z axis, tilt angles torso relative axis. is based on sensor data that measured from accelerometer force sensing resistor (FSR) sensor. Training classifier done off-line trained used robot on-line. was verified 3D dynamics simulator showed it could within 0.01 second.

Nowadays, interest in dual arm robot system is increasing with industrial necessity. Because a which has two arms and torso joints can substitute human's work it also expected to do better performance than human the field, there are lot of research about design control robot. In paper, for part assembly designed through workspace analysis dynamic motion simulation. We decided dimension including using specification each actuating module

All of industrial robots need the fixed-time control property commonly. The EtherCAT is a highly flexible network protocol that developing at rapid rate. It extention conventional ethernet with high speed communication and simple wiring characteristic. With ethercat, implementation robot more easier. Here, function direct teaching described.

The introduction of industrial intelligent robot using vision sensor has been interested in automated factory. 2D and 3D sensors have used to recognize object estimate pose, which is for packaging parts onto a complete whole. But it not trivial task due illumination various types objects. Object image distorted that caused low reliability recognition. In this paper, recognition method complex shape proposed. An accurate region detected from combined binary image, achieved DoG filter local...

Industrial robots have been used in the various manufacturing processes such as part handling, palletizing, welding, assembly, processing and so on. Automatic assembly with robotic systems becomes more important to increase rate of automation industrial field. However, task is generally automated only for uncomplicated workpieces which simple shape high tolerance. Although there are currently some kinds automatic technologies including visual feedback, active control algorithms passive...

The operator has to teach the reference trajectory for manipulator be operated automatically. But it is not easy manipulator. Direct teaching one of alternatives and intuitive method. In this reason, a direct robot system been developed. can easily intuitively developed It safe joint mechanisms which are composed torque sensors mechanical spring cams. This shares workspace with human safe. paper, research results will introduced.

In this paper, we propose a robust method for estimating the parameters of robot manipulators using torque separation technique, which was developed previously by authors, to extract inertial, gravitational, and frictional components from input torques multiple sinusoidal joint motions. The separated produce set reduced linear regression equations where dynamic appear decoupled or minimally coupled. A mathematical analysis is presented show that tends yield more parameter estimation than...

This paper describes the development of a welding profile sensor for laser robot application. The consists PC based vision camera and stripe-type diode. All components are assembled into compact module which can be attached to end-effector robots. laser-stripe measure object obtain seam line. Moreover, working distance varied. robot, tracking system, CW Nd:YAG used system. simple control scheme whole system is also presented. measurement experiments were carried out validate operation