Jozef Varga

Design of Modular Gripper for Industrial Robot

The article discusses the design of modular gripper for industrial robot based on the modularity. This modularity includes the variable layout of fingers into three positions for the specified grip. It also consists of the specification of objects manipulation, their dimensions and weights with this type of gripper. The proposal is based on the biomechanical principle of the human hand. According to the analysis of human hand, there is a possibility to categorize every type of grip. The concept of gripper will introduce its own possibilities, functionality and fulfillment of required grip tasks. Design is based also on limited requirements, which are determined by the envelope of flange of industrial robot, application and others factors.

Design and Implementation of Remote Lab with Industrial Robot Accessible through the Web

This paper describes design and implementation of remote lab with industrial robot accessible through the web based on Moodle portal, Easy Java Simulations (EJS) and Arduino Sw & Hw. The main purpose of this lab is to improve study, training and programming knowledge in industrial and service robotics for students, teachers of secondary vocational schools and company workers that deal with problems that arise on real robotic workplaces. This lab allows the user to work from their homes and operates with industrial robot at real workplace. Such remote lab can also enable users to use expensive lab equipment, which is not usually available to all persons. Practical example of application of the lab with industrial robot on Department of Robotics, Technical University of Kosice, Slovakia is presented.

Simple Algorithm for Patterns Recognition

This article describes algorithm for patterns recognition of application for dual arm robot, android device and camera system. As first was create android application for getting information from computer via Bluetooth. Computer is using for image processing from external camera and then send image of dice to android devices and show on screen score of dice.

Integrated System of Mixed Virtual Reality Based on Data Glove CyberGlove II and Robotic Arm MechaTE Robot

Proposed paper describes development of CyberGlove II - MechaTE low-cost robotic hand interface intended for future use in virtual and mixed reality robot programming. The main goal is to explore possibilities and gain programing experience in controlling mechanical hands by means of data gloves and its interconnection to virtual reality modeling software. First part of paper describes recent progress in using virtual reality for purposes of intuitive robot programming; second part includes an overview of recent development of mechanical hands construction, as well as currently available data gloves. Last part provides details about CyberGlove – MechaTE interface and its potential for methods of intuitive robot programming in virtual or mixed reality environments.

Methodology for the vibration measurement and evaluation on the industrial robot Kuka

The aim of this paper is to point out the need of applying the proactive and predictive maintenance as the key instrument for the maximum operational reliability and usability of the industrial robots using the minimum costs and human resources. We want to emphasize that by the vibrodiagnostics method, which is one of the methods for ensuring the operability of the robot, extended life of the industrial robots and energy savings will be reached. The vibration measurements had been realized using the three accelerometers. Their evaluation was done via computer software ScopeWin. FFT transformation was applied for analysis of the spectrum of vibration. The purpose of the paper lies in proposing a comprehensive methodology for the measurement and evaluation of vibration on the industrial robot, and serves as a way to obtain additional recommendations and drafts of the procedures for maintenance and fault diagnosis of the industrial robots.

Design of Humanoid’s Lower Limb Model for Walking

This paper describes basic principles of the kinematic structure design for two - leg walking robots. The article deals with the design of walking phases detailed, which is described in sagital and frontal plane so that movement of the centre of gravity was outside the support polygon and also offers the model of walk for the concrete construction of the two - leg walking robot. This article is the result of research activities of our department in humanoid robotics.

Principles of Formation of Flexible Manufacturing Systems

The article presents points necessary for the production re-prophilation into the flexible one through the generation of so called flexible manufacturing cells. Mentioned are the reasons and effects which are brought by the flexible production. In general, the key to the generation of the flexible production is the group technology based on the principle of the material flow analysis. The variants of the possible solutions based on the material flows confirm that the problem of the flexible manufacturing cells generation is not an easy one and unambiguous either. But considering only this one criterion is not sufficient for the practice because it does not consider for example the number of the pieces. Therefore the present article in the principle points at the application of the multiplied criteria about the part or machine, based on which more specifically stated is the cell profile, as number of machines, type of machines, intercellular transfers and so on.

Modeling and control of two-link snake:

This article deals with using of geometric mechanics at modeling mixed mechanical locomotion systems. In introductory part, the division of locomotion systems and reduced motion equation, which create the mathematical model of the system, is analyzed. Further we devoted to example of mixed locomotion system—two-link snake. We created the mathematical model of this example, simulated this system, and represented other tools of geometric mechanics.

Design of Mobile Application for Controlling Robosoccer via Bluetooth

This article describes an implementation of mobile application for controlling of robosoccer robots, it was created through online development environment MIT app inventor 2. After starting of application Robosoccer at android device you can select between Player 1 or Player 2 robot soccer. Android device can communicate with robots via bluetooth interface. The application uses an accelerometer for control direction and movement slider for speed control. Users can download application from Google Play store with title “Robosoccer” and then play soccer with robots.

Mutual comparison of developed actuators for robotic arms of service robots

Development and deployment of new drives using reducers is exactly dependent on their area of application. Designing a universal drive is complex and cannot be done without various compromises. When installing the drives into the robotic arm nodes used on the chassis of the mobile service robots, it is also necessary to provide suitable input voltage values for operation on the built-in batteries. To provide the desired results, it is sometimes more suitable to have actuators with various configurations which, however, leads to the need for a comparison between them. Testing stands of drive manufacturers are designed to test drive parameters that are standard version. For the development of new drive configuration with the use of secondary transfer, it is necessary to implement the specific verification stands, which allows for comparison between the properties under the same test conditions. Drives equipped with accurate reducers are very sensitive to the choice of the correct methodology for measuring, because their declared repeatability is less than 1.5 arcmin. The article describes the relative positioning accuracy of the resulting configurations of the two actuators, one of which uses a secondary belt drive and the other uses a flexible coupling for linking the motor and the reducer. For the avoidance of production inaccuracies, the motor and reducer on the measured drives are the same. This means that before the verification of the first drive, it is necessary to assemble the whole system, according to the prescribed manufacturing process. After implementing the measurement, the same components are used, namely the engine and the reducer of the other drive, and the measurement is carried out under the same conditions.