Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedAT8 Gemini 1 Wednesday, October 10, 2012, 08:30–09:30
Dynamics and Control I
Chair
Co-Chair
08:30–08:45 WedAT8.1
Contribution to the modeling of Cablesuspended
Parallel Robot hanged on the four
points
Mirjana Filipovic,Mihajlo Pupin Institute, University of Belgrade, Serbia,
Ana Djuric,Wayne State University , Detroit, MI 48202, U.S.A.,
Ljubinko Kevac,School of Electrical Engineering, The University of Belgrade,
Serbia
• The kinematic and dynamic model of the
Cable-suspended Parallel Robot - CPR
system is generated via Jacobi matrix.
• The dynamical model is calculated by
mapping the resultant forces which are
acting on the shaft of each motor and
forces acting on a camera carrier by the
Jacobi matrix.
• The software packages AIRCAMA has
been used to verify the selection of motors
for any size of workspace, any weight or
desired velocity of a camera carrier, and
so on.
z
y
O
wall anchor
contour of the workspace
y
x
. O
z x
A
motorized winch 4
of fiber-optic kablae
fiber-optic cable
camera platform
winch 4
motor 4
winch 3
motor 3
motorized
winch-1
CPR, a) in 3D b) top view
winch 1
camera platform
motor 1
contour of the workspace
motor 2
winch 2
s
pulleys
v
motorized
winch-2
θ 2
θ 3
θ 1 motorized
winch-3
09:00–09:15 WedAT8.3
Planning Trajectories on Uneven Terrain using
Optimization and Non-Linear Time Scaling
Techniques
Arun. K. Singh + , K. Madhava Krishna + and Srikanth Saripalli ++
+ Robotics Research Centre IIIT-Hyderabad, India
++ ASTRIL Arizona State University, U.S.A
• A path is computed in terms of some
parametric functions in terms of some
variable u
• A transformation from the variable u to
time t is done through a scaling function
h(u)
• A novel scaling function in the form h(u) =
a*exp(b*u) is proposed.
• Framework for choosing appropriate a and
b is proposed.
• The resulting velocity and acceleration
through scaling function satisfy stability
constraints.
pulleys
k
n
k
wall anchor
n
d
a)
b)
h
m
θ 4
h
Vehicle evolving on Uneven
terrain along a stable path
m
08:45–09:00 WedAT8.2
Modeling and Control of a Flying Robot
for Contact Inspection
Matteo Fumagalli and Raffaella Carloni and Stefano Stramigioli
Robotics And Mechatronics, University of Twente, The Netherlands
Roberto Naldi and Alessandro Macchelli and Lorenzo Marconi
CASY, University of Bologna, Italy
Analysis of the Interaction
of
Quadrotor UAV enhanced
with
a multi-DoF Manipulator,
with
a R emote Environment
• Modeling of the Flying Robot
• Control of a floating base
manipulation system for
physical interaction
• E xperimental Validation
09:15–09:30 WedAT8.4
Distributed Voronoi partitioning for multi-robot
systems with limited range sensors
K.R. Guruprasad
Department of Mechanical Engineering, National Institute of Technology
Karnataka, Surathkal, India
Prithviraj Dasgupta
Department of Computer Science, University of Nebraska, Omaha, USA
• Each robot constructs the
corresponding range constrained
Voronoi cell in a distributed
manner.
• Only the positional information
about the robots within
communication range is used.
• Communication range should be at
least twice that of the sensor
range.
• Relative position in polar
coordinate system is used.
• Structured and efficient
computation of Voronoi cells.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–126–
Range constrained Voronoi cell
constructed using the proposed algorithm