Ivan Kalaykov

Modeling of magneto rheological fluid actuator enabling safe human-robot interaction

Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates variable stiffness directly into the joints. In this paper, we have investigated and analyzed principle characteristics of MRF actuation mechanism and presented the analytical-model. Then we have developed the static and dynamic model based on experimental test results and have discussed three essential modes of motion needed for human-robot manipulation interactive tasks.

Semi-active compliant robot enabling collision safety for human robot interaction

Human robot interaction (HRI) tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior enabling eminent collision safety as well as maintaining high position accuracy. Robot compliance control normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We proposed a unique method using semi-active compliant actuation mechanism having magneto-rheological (MR) fluid based actutaor that introduces reconfigurable compliance characteristics into the robot joints. This enables high intrinsic safety coming from fluid mechanics as well as, it offers simpler interaction control strategy compared to other concurrent approaches. In this studies, we have described three essential modes of motions required for physical human system interaction. Furthermore, we have demonstarted robot collision safety in terms of static collision and experimentally validates the performance of robot manipulator enabling safe human robot interaction.

Time-optimal sliding mode control of robot manipulator

We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties.

Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a light-weight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.

New concept of in-water surface cleaning robot

This paper introduces a new concept of flexible crawling mechanism to design an industrial underwater cleaning robot, which is evaluated from the viewpoint of the capability to work underwater, scanning the desired surface, and bearing the reactions. This can be used as a robotic application in underwater surface cleaning and maintenance. We designed a robot that realizes the motion by contraction and extraction using DC-motors and vacuum technology. In this study we first focused on realizing the adhesion, bearing reactions, and achieving a stable locomotion on the surface.

New speed limits of the fuzzy controller hardware

Implementation of very fast fuzzy controllers is proposed. The state of fuzzy control system is presented by moving fired-rules-hyper-cube (FRHC) in phase space. Only rules inside FRHC are fired and processed in parallel, thus speeding up the fuzzy inference. Some fuzzy controller structures are discussed with estimation of the speed.

In-water surface cleaning robot : concept, locomotion and stability

This paper introduces a new concept of flexible crawling mechanism in the design of industrial in-water cleaning robot, which is evaluated from the viewpoint of work and operation on an underwater surface. It enables the scanning and cleaning process performed by water jets, while keeping stable robot position on the surface by its capacity to bear and compensate the jet reactions. Such robotic platform can be used for cleaning and maintenance of various underwater surfaces, including moving ships in the open sea. The designed robot implements its motions by contraction and expansion of legged mechanism using standard motors and suction cups technology. In this study we focus at the conditions for achieving enough adhesion for keeping continuous contact between the robot and the surface and robot stability in different situations for the basic locomotions.

SIRO: The silos surface cleaning robot concept

A concept of a suspended robot for surface cleaning in silos is presented in this paper. The main requirements and limitations resulting from the specific operational conditions are discussed. Due to the large dimension of the silo as a confined space, specific kinematics of the robot manipulator is proposed. The major problems in its design are highlighted and an approach to resolve them is proposed. The suggested concept is a reasonable compromise between the basic contradicting factors in the design: small entrance and large surface of the confined space, suspension and stabilization of the robot.

Motion Control of Siro: The Silo Cleaning Robot

Both the principle of operation and the motion-control system of a suspended robot for surface cleaning in silos are presented in this paper. The mechanical design is a reasonable compromise betwee ...

Current collector for heavy vehicles on electrified roads: kinematic analysis

We present a prototype of a novel current collector manipulator to be be mounted beneath a heavy vehicle to collect electric power from road-embedded power lines. We describe the concept of the gro ...