Robust Stability of Singularly Impulsive Dynamical Systems

In this paper, we present results of the robust stability analysis for the class of nonlinear uncertain singularly impulsive dynamical systems. We present sufficient conditions for the robust stability of a class of nonlinear uncertain singularly impulsive dynamical systems. The problem of evaluating performance bounds for a nonlinear-nonquadratic hybrid cost functional depending upon a class of nonlinear uncertain singularly impulsive dynamical systems is considered. It turns out that the cost bound can be evaluated in closed form as long as the hybrid cost functional is related in a specific way to an underlying Lyapunov function that guarantees robust stability over a prescribed uncertainty set. Then, results for the case of uncertain singularly impulsive dynamical systems are presented. The results obtained for the nonlinear case are further specialized to linear singularly impulsive dynamical systems

Procedure for definition of end-effector orientation in planar surfaces robot applications

Razvoj moćnih metoda za programiranje robota koje su ujedno i korisnički prilagođene je tema značajnih istraživanja u robotskoj zajednici. Radi olakšavanja programiranja robota, pojavljuje se ideja o razvoju standardnih procedura za programiranje najčešće prisutnih robotskih zadataka, a koje se mogu univerzalno lako upotrebiti kao gotov deo (ready-made) korisničkog programa. Važna klasa aplikacija industrijskih robota podrazumeva kretanje hvatača (end-effector) u paralelnim ravnima. U ovom radu je prikazan razvoj procedure jezika za programiranje robota koja služi za određivanje normale ravni objekta u odnosu na koordinatni sistem od značaja, kao i osnova procedure za automatizovani postupak programiranja orijentacije hvatača u odnosu na ravan objekta. Ova procedura se može koristiti kao integralni deo task oriented metoda programiranja robota, a takođe kao i procedura eksplicitnog robotskog programskog jezika, i ilustrovana je kroz praktični primer na robotu Lola 15.Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15

Procedure for definition of end-effector orientation in planar surfaces robot applications

Razvoj moćnih metoda za programiranje robota koje su ujedno i korisnički prilagođene je tema značajnih istraživanja u robotskoj zajednici. Radi olakšavanja programiranja robota, pojavljuje se ideja o razvoju standardnih procedura za programiranje najčešće prisutnih robotskih zadataka, a koje se mogu univerzalno lako upotrebiti kao gotov deo (ready-made) korisničkog programa. Važna klasa aplikacija industrijskih robota podrazumeva kretanje hvatača (end-effector) u paralelnim ravnima. U ovom radu je prikazan razvoj procedure jezika za programiranje robota koja služi za određivanje normale ravni objekta u odnosu na koordinatni sistem od značaja, kao i osnova procedure za automatizovani postupak programiranja orijentacije hvatača u odnosu na ravan objekta. Ova procedura se može koristiti kao integralni deo task oriented metoda programiranja robota, a takođe kao i procedura eksplicitnog robotskog programskog jezika, i ilustrovana je kroz praktični primer na robotu Lola 15.Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15

Simulation and Control of Flight Simulator: In Brief ETRAN

Simulation and Control of Flight Simulator: In Brief ETRAN, IcETRAN Conferenc

Remote control of industrial robot lola 50 using wireless communication and android device

Abstract: Android platform based devices are powerful mobile computers with a rich variety of built-in sensors and permanent Internet connectivity. Because of its powerful capabilities, as well as open architecture, they became promising candidates for a number of industrial applications. This paper describes the process of implementation and use of application for remote control of industrial robot Lola 50, in manual mode, using the Android mobile phone and wireless communication

Automated testing of L-IRL robot programming language parser

Abstract: Parser testing represents the basis of compiler testing because the accuracy of parsing execution directly affects the accuracy of semantic analysis, optimization and object code generation. It should include tests for correct and expected, but also for unexpected and invalid cases. In this paper, techniques for testing the parser, as well as algorithms and tools for test sentence generation are discussed. Generation of negative test sentences by modifying the original language grammar is described. Positive and negative test cases generated by Grow algorithm and Purdom algorithm are applied to the testing of L-IRL robot programming language and obtained results are described in this paper

Procedure for definition of end-effector orientation in planar surfaces robot applications

Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15