The paper deals with Implementation of inertial navigational system in industrial robot control. The goal of this paper is the verification of the possibility of trajectory control and correction ...(reverse validation) of a mobile robot, which is based on an implemented inertial navigation system even in situations, when the inertial navigation system is the only trajectory control device. Adjustments to the trajectory of mobile robot are dependent on positional data of the robot, obtained via sensors located on the industrial robot. The mentioned IMU data were processed in real-time with different ways to gather positional information about the movement of the device. An x-IMU was proposed and used as the inertial navigation system an. It was located at the End Point of the robot's effector (EE point). To control the convergence rate, optimized Madgwick AHRS algorithm has been proposed.
In practice of technology workplaces with robots the computing technology is used. It is important for the used technology to be independent on platform which it is presented on and to use the newest ...standards in computer technologies (Orfali & Harkey 1998). The aim of our project is to design suitable technology for implementation of a computer model in a virtual technological workplace. The result will be used to teach and test manipulation control operations. Virtual workplace model simulates simple logics derived from real robotized workplace. The aim is to create a fully functional virtual automated laboratory with an industrial robot usually controlled by a personal computer in practice.
Agenda 21 was accepted in the UNO conference oriented to environmental and development issues (UNCED) carried out from the 3(rd) to the 14(th) of June 1992 in Rio de Janeiro, Brasil. The problem of ...sustainable development (SD) in AGENDA 21 in-process also in Slovakia to the regional and local level as LA 21 (local agenda) is accepted as the development aimed at assuring the basic individual demands and society without corrupting the environment and the ability of future generations to satisfy their own demands. Suggested HCS model 3E is in-process "National strategy of sustainable development of Slovak Republic" (SD: macro-level to business micro-level: HCS model 3E).
In this paper, the dynamics model of a hexacopter equipped with a robotic arm has been formulated using Newton-Euler's method and its stability was investigated. For disturbances emulation, a ...simplified pendulum method was used. This Hexacopter configuration was not covered in scientific papers before. The resulting model is a nonlinear, coupled, and underactuated dynamics model, which includes aerodynamic effects and disturbances because of equipping the hexacopter with a robotic arm. The purpose of the presented paper is to offer a comprehensive study of determining the inertia moments of the hexacopter using a simplified pendulum method, taking into consideration the effect of mass distribution and center of gravity changes, which are a result of the continuous movement of the manipulator during the hexacopter motion in the air. The experimental tests were made using solid works application and were evaluated using LabVIEW in order to get a complete view of the disturbances, which were inserted into the dynamics model. The overall aircraft model was driven by four classical PID controllers for the vehicle's attitude and altitude of a desired trajectory in the space. These controllers were used to get a good understanding of how to evaluate and validate the model to make it an anti-disturbance model, in addition to their ease of design and fast response, but they require development in order to get optimal results. In future, a precise trajectory will be defined, and the controllers will be developed in order to get robust stability using nonlinear techniques and artificial intelligence.
Offline programming with the use of a virtual robot technology operates as if you had a real robot on your computer. Offline programming is the best way how to maximalize the return of investments of ...robotic workplaces. Programming of a robot on PC without the need of production stop is enabled by software for simulation and offline. It also enables to prepare robot programmes in advance, what increases overall productivity.
