Santiago T. Puente

Virtual disassembly of products based on geometric models

This paper describes different aspects of a disassembly system and presents the information model to obtain, on the one hand, the movements necessary for removing a component, and, on the other, a simulation of the disassembly process carried out. The inputs of the disassembly system are the CAD model of the product to be disassembled and the different features of the components stored in a database. Based on such information, an object-oriented model required for developing the disassembly process in a flexible way is generated. Local and global strategies for the removal of one component, using a set of translational movements, are described. Finally, the paper describes a simulation system that allows the verification of the disassembly movements automatically obtained, and simultaneously, to determine the ease of non-destructive disassembly.

Remote robot execution through WWW simulation

This paper shows the state of art teleoperation and simulation systems and proposes some possible network architectures devoted to the development of such systems. A method for the optimization of robot tasks is also suggested. The application proposed can teleoperate a robot arm with five degrees of freedom through Internet by using a previous simulation system and visual feedback. This simulation can be accessed simultaneously by different workers. As a result, the number of robots required can be reduced on new applications or dangerous environments.

A Flexible Java Class Library for Simulating and Teleoperating Robots

Abstract This paper presents a Java-3D-based software library for modelling industrial robot arms and programming simulation and tele-operation environments. Its main features are its portability, since it is developed with Java, its simplicity in defining different robots and including them in the final application, as well as its collision detection management. The library has been applied to the development of a simulation and tele-operation system, focused on the training of Robotics, which is also briefly described here.

A cooperative robotic system based on multiple sensors to construct metallic structures.

This paper describes a multisensorial robotic system to automatically construct metallic structures. Two robots must work cooperatively in the same workspace to perform the task. The robots are automatically guided using visual and force sensor information. A new time-independent visual force control system which guarantees the adequate robot behaviour during the construction of the structure is described. During the construction of the structure, a human operator works cooperatively with the robots in order to perform some tasks which cannot be automatically developed by the robots. To do so, a new human–robot cooperation approach is described in order to guarantee the human safety. The correct behaviour of the different subsystems proposed in the paper is demonstrated in Section 6 by the construction of a real structure composed of several metallic tubes and different types of pieces to join them.

TASK PLANNER FOR A COOPERATIVE DISASSEMBLY ROBOTIC SYSTEM

Abstract this paper proposes a task planner for a disassembly robotic system. In which two or more manipulators work in a cooperative way to solve the disassemble tasks. This method is based on the construction of decision trees schemes that allows the system to determine a general method to planner all the disassembly actions in a cooperative and coordinated way. In a cell composed for j robotic manipulators.

Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home

This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operators eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot’s kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance.

INCLUDING THE VIRTUAL LABORATORY CONCEPT IN AN ON-LINE COLLABORATIVE ENVIRONMENT

Abstract With the aim of combining the main advantages of the virtual laboratories and the collaborative learning environments, a new on-line collaborative environment is proposed in this paper. This environment includes, in addition to other common tools, simulation applets in the user interface. To make possible the collaborative learning, the simulations work in a synchronized way for the users of a same group. The main features of the first prototype of the environment and its architecture are described. This prototype has been developed as a module for the popular CMS Moodle.

Study of dexterous robotic grasping for deformable objects manipulation

Most works in dexterous manipulation consider Force Closure Grasp (FCG), not only for rigid object but also, for flexible ones, though in the second case a force readjustment is also necessary. However, there are situations in which FCG is nonviable. This paper deals with the situation of a flexible object that must be necessarily grasped from one of its sides, taking advantage of its flexibility. This situation is common in packaging processes, or other everyday situations carried out by people. The paper presents first a new solution based on a planner that reproduces the actions of a human hand, aided by a database with knowledge about previous tasks. The paper is focused on describing the first tests done to evaluate the effectiveness of the planner for grasping different basic flexible objects, compared to a human hand.

Practical experiences using RobUALab.ejs: a virtual and remote laboratory for Robotics e-learning

This paper describes some practical experiences on Industrial Robotics using RobUALab.ejs, an interactive virtual and remote laboratory developed at University of Alicante (Spain). This system is mainly intended for an educational use and its advanced features permits students to easily acquire methods, skills and experience related to Robotics. Its architecture is based on a Java applet application, which provides users a distance training environment with a real scenario of a robotic manipulator as well as an advanced interface to program it at any time from anywhere.

A Vision-Driven Collaborative Robotic Grasping System Tele-Operated by Surface Electromyography

This paper presents a system that combines computer vision and surface electromyography techniques to perform grasping tasks with a robotic hand. In order to achieve a reliable grasping action, the vision-driven system is used to compute pre-grasping poses of the robotic system based on the analysis of tridimensional object features. Then, the human operator can correct the pre-grasping pose of the robot using surface electromyographic signals from the forearm during wrist flexion and extension. Weak wrist flexions and extensions allow a fine adjustment of the robotic system to grasp the object and finally, when the operator considers that the grasping position is optimal, a strong flexion is performed to initiate the grasping of the object. The system has been tested with several subjects to check its performance showing a grasping accuracy of around 95% of the attempted grasps which increases in more than a 13% the grasping accuracy of previous experiments in which electromyographic control was not implemented.