Adrian Legowski

Robot Manipulator Teaching Techniques with Use of Hand Gestures

Robot manipulator teaching is a time consuming procedure where qualified operator programs the execution path. In this paper we introduce and discuss the improvement of traditional teaching method with application of hand gesture recognition system. The paper presents the most common robot programming and hand gesture recognition issues and presents the possibility of joining this two research fields.

The Global Inverse Kinematics Solution in the Adept Six 300 Manipulator with Singularities Robustness

In this paper the solutions both the forward and inverse kinematics problems for Adept Six 300 6R robot are presented. A matrix method was used in computations. Algorithm based on the derived formulas and logical conditions has been implemented in Adept Smart Controller Cx. Comparison between manufacturer and proposed algorithm is presented. Result of this operation has been shown on figures presenting the manipulators smooth passage through singular points.

An Approach to Control of Human Leg Switched Dynamics

This article describes the approach to control of human leg dynamical model as a switched linear system. The control scheme consists of fractional and integral order PID controllers. In the paper we analyze the responses of the system depending on the above-mentioned controllers. We focus our attention on angular displacements only. The angular velocity maybe arbitrary. Additionally, we present the method how to design a human leg as the switched linear system. In this case the switching rule is state-dependent. Finally, we present two illustrative examples for two different trajectories.

Controllability of discrete-time switched fractional order systems

In the article unconstrained controllability problem of discrete-time switched fractional order systems is addressed. A solution of discrete-time switched fractional order state equation is presented. Additionally, a transition matrix of considered dynamical systems is given. A sufficient condition for unconstrained controllability in a given time interval is formulated and proved by the general formula of difference state equation solution. At the end, an illustrative example is also shown.

Manipulator path control with variable order fractional calculus

In this paper an application of the fractional calculus to path control is studied. The integer-order derivative and integral are replaced with the fractional-order ones in order to solve the inverse kinematics problem. The proposed algorithm is a modification of the existing one. In order to maintain the accuracy and to lower the memory requirements a history limit and varying a order for derivation are proposed. An impact of the parameters upon a generated path is studied. Obtained results prove that using the fractional calculus may improve well known methods of solving the inverse kinematics problem.

Planning and heuristics of assistant manipulator

The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.

Robot path control based on PSO with fractional-order velocity

The particle swarm optimization algorithm (PSO) is widely used and therefore it has been deeply studied in order to understand the parameters influence on the final results. In this paper we study the modification of the common approach. We decided to utilize method that alters the velocity update rule which now uses the fractional-order derivative. For derivative discretization we propose use of four conversion rules. We propose the application of this method to solving the inverse kinematics problem and therefore, to path control of an industrial redundant manipulator.

On inverse kinematics with fractional calculus

In this paper an application of the fractional calculus to path control is studied. The integer-order derivative and integral are replaced with the fractional-order ones in order to solve the inverse kinematics problem. The proposed algorithm is a modification of the existing one. In order to maintain the accuracy and to lower the memory requirements a history limit and varying order for derivation are proposed. An impact of the parameters upon a generated path is studied. Obtained results prove that using the fractional calculus may improve well known methods of solving the inverse kinematics problem.

Manipulator path control with both integer and non-integer order derivative operators

In this paper an application of the fractional calculus to path control is studied. The integer-order derivative and integral are replaced with the fractional-order ones in order to solve the inverse kinematics problem. The proposed algorithm is a modification of the existing one. In order to maintain the accuracy and to lower the memory requirements a history limit and a combination of fractional and integer-order derivation are proposed. After reaching assumed accuracy or iteration limit the algorithm switches to integer order derivative and stops after few additional iterations. This approach allows to reduce the positional error and maintain the repeatability of fractional calculus approach. The simulated path in task space have been designed in a way that causes the instability of standard Closed Loop Pseudoinverse algorithm. Our study proves that use of fractional calculus may improve the joint paths.