Robotics in theory and practice

Robotics in

Theory and Practice

Edited by

Lucia Pachnikova

Mikulas Hajduk

Robotics in Theory and Practice

Selected, peer reviewed papers from the

11th International Conference

Industrial, Service and Humanoid Robotics

ROBTEP 2012,

November 14th - 16th 2012, Strbske Pleso, High Tatras, Slovakia

Edited by

Lucia Pachnikova and Mikulas Hajduk

Copyright  2013 Trans Tech Publications Ltd, Switzerland

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Volume 282 of

Applied Mechanics and Materials

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11th International Conference

Robtep 2012

Industrial, service and humanoid robotics

14th – 16th November 2012

Hotel Panorama, Strbske pleso, High Tatras, Slovakia

PREFACE

Dear Distinguished Authors and Guests

It is our pleasure to warmly welcome you to 11th International Conference Robtep 2012, held on 14th –

16th November 2012, Strbske pleso, High Tatras, Slovakia.

The aim of the Robtep 2012 Conference is to present the latest research and results of scientist such as

professors, students, PhD. students and engineers related to robotics and manufacturing systems. This

conference provides opportunities for the different areas delegates to exchange new ideas and application

experiences face to face, to establish business or research relations and to find partners for future

collaboration in research and projects.

All papers published in this volume have been peer reviewed through processes administrated by the

proceedings editors. Reviews were conducted by experts referees to the professional and scientific

standards. The conference program is rich, we would like to thank to all who presented their papers, and our

special thanks go to Dr. Cecile Huet from European Commission for her interesting presentation of European

Framework Programme and Horizon 2020 Programme as well as to Mr. Elmo Shreder from euRobotics for

his interesting presentation of European Robotics Platforms and possibilities to join them. We’d like to extend

our thanks to members of scientific committee for their effort to the conference; especially, we’d like to thank

to members of organizing committee for their hard working; finally, we would like to express our

appreciations to the participants of this conference.

The Robtep conference is organized within the project “Research of modules for intelligent robotic

systems”, ITMS No. 2622022141, OPVaV 2009/2.2/05 SORO.

With our warmest regards

prof. Ing. Mikulas Hajduk, PhD.

Conference Organizing Chair

Committees:

Guarantee of conference and scientific committee

Dr.h.c. prof. Ing. Anton ČIŽMÁR, CSc.

Dr.h.c. mult. prof. Ing. František TREBUŇA, CSc.

prof. Ing. Mikuláš HAJDUK, PhD.

prof. Ing. Juraj SMRČEK, PhD.

prof. Ing. Vladimír ČOP, DrSc.

Ing. Jaromír JEZNÝ, PhD.

Ing. Ladislav VARGOVČÍK, PhD.  

Ing. Peter JENČÍK

P. Blecha  

C. Bungau  

P. Demeč  

K. Dobrovodský  

F. Ďurovský  

M. Ganea  

C. Göloglu  

M. Haun  

Š. Havlík  

N. Jesse  

L. Jurišica  

J.H. Kim  

S. Klimenko  

R. Knoflíček  

Z. Kolíbal  

M. Kováč  

P. Kopacek  

J. Lunarski  

T. Mikojaczyk  

A. Meyveci  

L. Mostýn  

T. Nieszporek  

F. Novotný  

F. Novák  

A. Olaru  

G. Patko  

Z. Pilat  

T. Popov  

M. Radev  

A. Rovetta  

J. Smolik  

J. Skařupa  

P. Sinčák  

S. Sofianopoulov  

J. Suchy  

A. Świć  

V. Szabajkovicz  

F. Šolc  

W. Taranenko  

R. Tarca  

D. Tesar  

M. Tolnay  

K. Velíšek  

T. Vesselenyi  

I. Veža

Table of Contents

Preface and Committee

Trends in Industrial Robotics Development

M. Hajduk, P. Jenčík, J. Jezný and L. Vargovčík 1

Stabilization of the Robot Mounted Inverted Pendulum by Vision Control

A. Kolker, A. Winkler and J. Suchý 7

The Analysis and Design Study of High Speed Robotic Devices

Š. Havlík and J. Hricko 18

Special Gripping Elements for Handling with Flat Objects

M. Horák and F. Novotný 27

Optimal Navigation for Mobile Robot in Known Environment

F. Duchoň, D. Huňady, M. Dekan and A. Babinec 33

Service Robot for Motion on the Vertical Oriented Walls

F. Novotný, M. Horák and M. Plavec 39

Modern Flexible Manufacturing Cell (FMC), Build by Retrofitting at Oradea University

M. Ganea, C. Bungau and R. Pancu 45

Setting up a Work Centre Based on the Profibus Network

A. Piotrowski and T. Nieszporek 51

Some Aspects of Design and Construction of an Automated Guided Vehicle

J. Zajac, A. Slota, K. Krupa, T. Wiek, G. Chwajol and W. Malopolski 59

Different Solution of Robotic Cells for Metal Sheets Beveling

Z. Pilat 66

Parallel Mechanism and its Application in Design of Machine Tool with Numerical Control

V. Poppeova, V. Bulej, R. Zahoranský and J. Uríček 74

Modeling and Analysis of the Biorobotics Mechanism

L. Kárník 80

Specialised Robotic Hand Designing and Object Grasping Simulation

D. Kumičáková and M. Jakubčík 90

Problem of Biomechanical Grippers Identifications Et’s Properties

J. Smrcek and P. Tuleja 99

Hardware Design for State Vector Identification of a Small Helicopter Model

V. Fedák and J. Bačík 107

Mobile Robotic Systems for Fragmentation of Nuclear Equipment

L. Vargovčík, R. Holcer and J. Medved 116

Design of Service Robot for Rescue Operations

R. Jánoš, L. Páchniková and P. Tuleja 123

Incorporation, Programming and Use of an ABB Robot for the Operations of Palletizing

and Depalletizing at an Academic Research Oriented to Intelligent Manufacturing Cell

R. Holubek and K. Velíšek 127

Analysis of Deployment Methods on Euro-Pallet

D. Kravec, M. Tolnay and J. Baďo 133

Indication of Machining Area with the Robot's Camera Using

T. Mikolajczyk 146

Multipurpose Mobile Robot

T. Mikolajczyk, J. Musial, L. Romanowski, A. Domagalski, L. Kamieniecki and M. Murawski 152

ROBIHO – A Robot Companion for Elderly People’s Homes

P.J.S. Gonçalves, P.M.B. Torres and P. Lopes 158

Stability of Exoskeleton for Function Phases “Sit Down and Stand up”

J. Varga 162

Implementation of Two Cameras to Robotic Cell for Recognition of Components

M. Sukop 167

Rotational Kinetic Module with Unlimited Angle of Rotation

J. Svetlik, P. Demeč and J. Semjon 175

b Robotics in Theory and Practice

Supervisory Level of Managing of Automated Assembly Workplace

R. Zahoranský 182

Optimization of Process Layout of Robotic Systems in the MSEVR System

A. Belovezcik, T. Belovezcikova and L. Páchniková 190

Automated Assembly of Arc-Extinguish Chamber for Circuit Breaker Elements

M. Vagaš 197

Parametric Programming of CNC Machine Tools

T. Nieszporek and A. Piotrowski 203

Modelling and Systemic Analysis of Models of Dynamic Systems of Shaft Machining

A. Świć, J. Zubrzycki and V. Taranenko 211

Mathematical Model of the Hole Drilling Process and Typical Automated Process of

Designing Hole Drilling Operations

J. Zubrzycki, A. Świć and V. Taranenko 221

Manufacturing Systems Suitable for Globalized Market

L. Páchniková, R. Jánoš and Ľ. Šidlovská 230

Virtual Model of Tool Path for Milling Machine at Classical Design Base

J. Semjon, P. Demeč and J. Svetlik 235

Adaptation of Control System for 3D Printing Device with the Use of Hot Gas Powder

Sintering

O. Staš, E. Gondár, M. Tolnay and P. Surový 242

The Procedure Designing Production Systems Based on CA Methods

J. Semjon 246

Flexible Production Cell with Information Systems

V. Baláž 252

Mechanism of Randomness in Vibration Signals of Machinery

T. Stejskal, J. Kováč and Š. Valenčík 257

Approaches to Dealing with More Parametric Diagnostics of Manufacturing Machines

R. Hudák 263

Virtual Reality in the Maintenance of Machinery and Equipment

J. Kováč, T. Stejskal and Š. Valenčík 269

The Method for Solving Kinematics of an Industrial Robot

L. Baločková 274

Modelling Maintenance and Renewal in Petri Nets

A. Pešková 282

Trends in industrial robotics development

Mikuláš Hajduk1, a , Peter Jenčík2, b , Jaromír Jezný3, c

, Ladislav Vargovčík4, c

1Technical University of Kosice, Faculty of Mechanical Engineering, Department of Production

Systems and Robotics, B. Nemcovej 32, 042 00 Kosic, Slovak Republic

2Manex, s.r.o., Alvinczyho 12, 040 01 Kosice, Slovak Republic

3ZŤS VVÚ, 040 01 Kosice, Slovak Republic

[email protected], b

[email protected],c

[email protected],

c

[email protected]

Keywords: industrial robotics, multirobotic cells, duo robots, industrial mobile robots, co-worker

robots

Abstract. The article describes the development and defines the change of approach in the

development of today's industrial robotics, provides an overview of the latest trends in the field of

industrial robotics. Until now, the industrial robots have been deployed to less demanding work

environments to perform "only" handling operations and to synchronize the operations of individual

facilities. Now they are undergoing a major innovation process, the bulk of which is focused on

increasing their intelligence and multi-functionality.

Introduction

Industrial robots are expanding from automotive to food, pharmaceutical and chemical

industries, also in logistics and recycling processes. They can be installed as a replacement for

"disposable" tool, as well as at workplaces where greater flexibility is required, so that these robots

fill in the gaps of hand actions in automated lines and using the 3D visual systems they provide

great opportunities for application in palletization of irregularly incoming objects such as from the

line or the press, and in sorting activities.

Wide application possibilities of robots require managing their design based on a modular

principle allowing the construction of a variety of kinematic configurations of robots, as well as of

effectors and flexible and intelligent control. The times when a robot was only suitable for repetitive

handling operations are gone. Today's range of robots includes nanorobots which are capable of

handling molecules, large robots with capacity of more than 1 000 kg and robots for virtually every

manufacturing and non-manufacturing sector, but also in radioactive environments, sea and space,

and there are less and less areas without the use of robots. So far we have been looking for new

areas to use robots but we have reached the point of asking a question: “Is there an area where the

use of robot has not been possible yet?”

Robotics development in the world

At the forefront of the global development of robotics are Japan, The USA, Europe and South

Korea (Fig. 1). The USA dominates in service robotics for military use deploying mobile robots

type off-road. They are unique in the field of space robots and in the development of interplanetary

robots. Interestingly, the USA does not dominate in industrial robotics, even though robots were

first manufactured in the U.S. (General Motors, Cincinnati Milacron, Westinghouse and General

Electric). Well-known manufacturers of industrial robots in the U.S. today are only Adept and San

Jose-based Company.

Applied Mechanics and Materials Vol. 282 (2013) pp 1-6

© (2013) Trans Tech Publications, Switzerland

doi:10.4028/www.scientific.net/AMM.282.1

In Japan and South Korea research activities and production of service robotics are widely

developed, humanoid robots includes. These robots are primarily focused for household jobs,

entertainment or rescue work. It turns out to be one of the most traded goods in the next 10 years.

Japan and South Korea see great potential in the development of robots for elderly care. Japan has

traditionally been strong in industrial robotics.

Industrial robots and service robotics dominate in Europe. These are focused on mobile robotics,

transport and logistics, and especially in the external environment (in urban environment). The

second area is represented by robots to work with humans. Europe is the leader in manufacturing

and deploying industrial robots (with 33% representation). There are about 15 major companies

producing industrial robots in Europe (KUKA, ABB, Reis, SCHUNK, STAUBLI, PROMOT,

COMAU, CLOOS, FATRONIC).

Fig. 1 The distribution of the global development of robotics

There are a few dominant national and international programs for robotics research in these

areas. The USA adopted the document Robotics and Automation Research Priorites for U.S.

Manufacturing in 2009, which emphasizes that robotics is the key to the transformation of

production to achieve high competitiveness. In Japan, large companies have their own programs to

develop new solutions and applications of robots. Also in Europe there are more and more research

programs focused on robotics.

The year 2010 is known as a strong comeback towards industrial robotics. This stems from the

fact that in 2009 the annual installation of robots fell to 60,000, in 2010 it was already 118,000 in

2011 about the 130000. The upward trend is expected in the next five years and in the 2017, the

annual number of installed robots should exceed the value of 200000. This trend is based mainly on

dynamic growth of markets and deploying robots, especially in China, South Korea and ASEAN

countries.

2 Robotics in Theory and Practice

New areas of development and application of industrial robots

Development of industrial robotics abandons the individual and "isolated" deployment of robots

and moves to a group building and deployment of workstation of type robot - human. Changes in

the approach to the development of today's industrial robotics are shown in tab. 1.

Up to now Now

stabile industrial robot mobile reallocation

periodic or repeated cycles with little changes frequently changed tasks, rarely repeated cycles

individual activity of robots robots’ cooperation

on-line/off-line programming on-line task assigning

no human-robot cooperation in the robot zone mutual human-robot cooperation on tasks

efficiency at middle and higher series higher efficiency a lower series

It has been shown that the preferred way of deploying the robots of type one robot - one action

has been inefficient. However, at the workplace there are much more activities identified as

auxiliary such as the exact position of the object, withdrawal and many others, for which they were

designed as a single-purpose device. At the current time of innovation, these workplaces do not

meet the requirements. The solution is represented by the robots with automatically replaceable

effectors, respectively technology heads or reconfigurable grippers as well as the use of multiple

robots as a group with a common purpose and robots with multiple arms and increasing the

autonomy of robots in more and more unstructured environment. Typical applications of

multirobotic cells include welding systems in which one or more robots carry out welding and

positioning and handling of weldments is executed by the other robot, fig. 2. The benefit is obvious.

The advantage of such sites is that they can perform more of various activities.

Fig 2 Welding – typical application of multirobotic systems

From duo robots (Fig. 3) can be expected in the near future to go beyond the human ability, even

in sensitivity, not only in strength, speed and accuracy. The basic idea of duo robotic development

are human activities carried out with both hands for everyday handling and in collaboration with

several workers.

Applied Mechanics and Materials Vol. 282 3

Fig 3 Dual – arm robot Fig 4 IMR - Industrial Mobile Robot)

In multirobotic systems and duo robots the establishment of activities, handling paths and

synchronization of their movements and speed are new challenges. Key aspects of multirobotic

systems are parallel control and synchronization and cooperation of their activities.

Industrial mobile robots

Industrial robots on a mobile platform (Fig. 4), also known as Industrial mobile robots (IMR -

Industrial Mobile Robot) is presented as a new category of robots.

Integration of industrial robot and mobile platform/gear as a fundamental part of the service

robot is a logical consequence of their development (Fig. 5).

Fig 5 Integration of industrial robot and mobile platform

4 Robotics in Theory and Practice

Classical industrial robot is taking on a new technical characteristic which is mobility. Presence

of synergies from such integration enables further increase in the degree of automation of

production. IMR application is mainly in the logistics chain in manufacturing, but also in non￾manufacturing operations. IMR with the equipment for installation and service robot effectors and

tools include in the category of service robots. Integration of industrial robots and mobile

platform/chassis provides further extension of the use of industrial robots.

Robot Co-worker

Logical result of further development and of application of industrial robots will be robot co￾worker-human worker systems- based on high symbiosis (Fig. 6). Since these robot systems are

expected to be able not only to help a person in many different applications, but to be able to

communicate in natural language. Highly level of autonomy and intelligence and of course safety is

expected too.

Fig 6 Robot Co-worker

Designers and engineers had a dominant role in the design of industrial robots up to now, and

their job was to make the best robot integrated into the manufacturing process, the task of design

now passes to raise intelligence "human" behavior of the robots. Psychologists take particularly

important role here. The existing approach was based on the conditions of appropriate integration

with other machinery. In terms of the position of man, it is important to design the appropriate

interface for programming the robot and ergonomic aspects of its maintenance.

Robot Co-worker is equipped with 3D systems for sensing the environment, even outside its

work area, especially taking into account the movements of humans and safety identification. One

area of research of robot -human common workplace is one method of finding the optimal

allocation of tasks between robots and humans.

Robot arm and human hands manipulate a single object together or both are involved in the same

technology operation. Such robotic arms are very sensitive and robot can respond to human

commands. It is believed that this type of robots will be of a great use, not only in industrial

applications, but it will become our assistant, helper in many activities. Furthermore, it is expected

to have wide use in medical rehabilitation, healthcare and support to immobile people.

Applied Mechanics and Materials Vol. 282 5

Conclusion

The basic requirement for the development of industrial robots is to improve their design in order

to achieve greater mobility and maneuverability and to increase their level of intelligence so that

their autonomy is increased. The main trend in the design of industrial robots is an intelligent

mechanotronic drive solution module with direct integration in the robot joint. The key technologies

of industrial robots are the use of new material components, which are stronger and lighter, and

which achieves design improvements, better dynamic properties at a higher capacity and improved

actuators and arms equipped with different sensors with sensitivity and visual homing to desired

positions.

Acknowledgements

This contribution is the result of the project implementation: VEGA 1/0810/11 “Principles of

profilation and cooperation of multirobotic systems.”

References

[1] Olaru, A; Olaru, S, Research of the global dynamic compliance and the viscose global dynamic

damper coefficient of the industrial robot, 17th International Symposium of the Danube-Adria￾Association-for-Automation-and-Manufacturing, Date: NOV 08-11, 2006 Vienna AUSTRIA,

Annals of DAAAM for 2006 & Proceedings of the 17th International DAAAM Symposium,

273-274, 2006,Reference to a book:

[2] Olaru, S; Olaru, A, Assisted optimization of the dynamic behavior of the industrial robots with

rheological dampers, WSEAS, ROCOM’08, Hangshou, China, 6-8aprilie, 2008.

[3] Nieszporek T., Szymański W., Rygallo A.: A new control system of the industrial manipulator

RIMP-401, In: Acta Mechanica Slovaca 2-A/2008, ISSN 1335-2393

[4] Arai, T., Pagello, E., Parker, L.E.: Advances in Multi-Robot Systems. In: IEEE Transactions on

robotics and automation, vol. 18, no. 5, 2002, p.655 -661. [5] Lynne E. Parker: Current

research in multirobot systems. In: ISAROB 2003, Artif Life Robotics, 2003, DOI

10.1007/s10015-003-0229-9.

[6] Farinelli, A., Iocchi, L., Nardi, D.: Multi-Robot Systems: A classification focused on

coordination. In: IEEE Transactions on System Man and Cybernetics, part. B, pp. 2015-2028,

2004.

[7] Vesselenyi, T. et. all.: Augmented Reality Used to Control a Robot System via Internet. In:

CISSE International Joint Conferences on Computer, Information and Systems Sciences and

Engineering, 2008, pp. 539-544.

[8] Bungău, C., Rus, A., Bratu, I., Robot-Assembly Task. Change Position of The Center of

Compliance, Proceedings, International Conferences TCMR – 2005, Machine Manufacturing,

Chişinău, 2005.

6 Robotics in Theory and Practice

Stabilization of the Robot Mounted Inverted Pendulum by Vision Control

Alexey Kolker1,a

, Alexander Winkler,2,b

, and Jozef Suchý2,c

1Novosibirsk State Technical University

Novosibirsk, Russia

2Chemnitz University of Technology

Chemnitz, Germany

a

[email protected], [email protected],

c

[email protected]

Keywords: Robot control, vision control, image processing, sensor guided robot motion.

Abstract. In this paper the stabilization of the well known inverted pendulum problem by visual

control is presented. The pendulum is mounted on the flange of an articulated robot arm. It is observed

by camera and its angle of inclination is computed by image processing on a PC. For stabilization a

state space controller realized with the standard robot controller is used. In summary, this system can

be seen as an example of a robot with visual control. The inverted pendulum is used because it is an

adequate controlled system to demonstrate advanced control algorithms. Its implementation with a

robot results in some more restrictions in comparison with the pendulum mounted on a linear drive,

e.g. in lower acceleration, smaller traversing range and the relatively high cycle time of the commercial

robot controller. Furthermore, the integration of the camera in the closed loop control instead of an

angular transmitter makes the successful realization more difficult.

Introduction

The inverted pendulum is one of standard systems for demonstration of high efficient advanced control

algorithms. A large number of publications are dealing with erecting and balancing the inverted pen￾dulum using state space controllers, fuzzy controllers [1], neural networks [2, 3], etc. [4]. Frequently,

the inverted pendulum is mounted on a linear drive realized by an electric motor and a tooth belt. Such

a system has a large traversing range and high accelerations can be reached in this arrangement. It is

even possible to realize inverted pendulum consisting of two or three links [1].

Another type of implementation of the inverted pendulum is with a robot arm [5]. It can by used

to impressively demonstrate sensor guided robot motion. In this situation the available workspace to

stabilize the pendulum is more restricted in comparison with other approaches. In this work a six axes

articulated robot will be used. To generate a linear motion of its end-effector all six joints have to be

moved in a coordinated manner. One further challenge is usage of the original commercial robot con￾troller which hinders the implementation of high speed control algorithms because it has no possibility

to directly influence motor currents or joint velocities.

In contrast to frequently used angular sensors or potentiometers for measuring the angle of incli￾nation of the pendulum in this paper a camera will be used which monitors its state. The angle will be

computed by image processing. As a result, the inverted pendulum will be controlled by vision [6].

The challenge in this case is to achieve an acceptable camera cycle time which allows the successful

stabilization of the inverted pendulum.

The paper is organized as follows. In the next section the experimental system of the pendulum and

its particular components is described. After this the algorithm calculating the pendulum inclination

angle from camera image is presented. The subsequent section deals with the controller for balancing

the pendulum. Afterwards, the realization is described and some experiments and their results are

shown. Finally, in the last section the short conclusion is given.

Applied Mechanics and Materials Vol. 282 (2013) pp 7-17

© (2013) Trans Tech Publications, Switzerland

doi:10.4028/www.scientific.net/AMM.282.7