Multirobot heterogeneous control considering secondary objectives

Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with di erent configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDI

Construction of the Elements of an Arm for Mobile Handling by CNC machining

The control of a manipulator arm requires that the designed elements be constructed with excellent precision which can be achieved with the use of CNC machines. This article presents the required machining techniques and the procedure used in the construction of each of the parts of the system, which has specific characteristics according to its future application.     Keywords: CNC, CAM, milling machine, Interpolation, G Code, machinin

Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators

In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D-workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator. Both the kinematic controller and the adaptive controller are designed to prevent from command saturation. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov’s method. Finally, experimental results are presented to confirm the effectiveness of the proposed visual feedback controller.Fil: Andaluz, Víctor. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Salinas, Lucio Rafael. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Toibero, Juan Marcos. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin

Energy-saver mobile manipulator based on numerical methods

The work presents the kinematic and dynamic control of a mobile robotic manipulator system based on numerical methods. The proposal also presents the curvature analysis of a path not parameterized in time, for the optimization of energy consumption. The energy optimization considers two aspects: the velocity of execution in curves and the amount of movements generated by the robotic system. When a curve occurs on the predefined path, the execution velocity is analyzed throughout the system in a unified method to prevent skid e ects from a ecting the mobile manipulator, while the number of movements is limited by the redundancy presented by the robotic system to optimize energy use. The experimental results are shown to validate the mechanical and electronic construction of the system, the proposed controllers, and the saving of energy consumptionThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDI

System identification and nonlinear model predictive control with collision avoidance applied in Hexacopters UAVs

Accurate trajectory tracking is a critical property of unmanned aerial vehicles (UAVs) due to system nonlinearities, under-actuated properties and constraints. Specifically, the use of unmanned rotorcrafts with accuracy trajectory tracking controllers in dynamic environments has the potential to improve the fields of environment monitoring, safety, search and rescue, border surveillance, geology and mining, agriculture industry, and traffic control. Monitoring operations in dynamic environments produce significant complications with respect to accuracy and obstacles in the surrounding environment and, in many cases, it is difficult to perform even with state-of-the-art controllers. This work presents a nonlinear model predictive control (NMPC) with collision avoidance for hexacopters’ trajectory tracking in dynamic environments, as well as shows a comparative study between the accuracies of the Euler–Lagrange formulation and the dynamic mode decomposition (DMD) models in order to find the precise representation of the system dynamics. The proposed controller includes limits on the maneuverability velocities, system dynamics, obstacles and the tracking error in the optimization control problem (OCP). In order to show the good performance of this control proposal, computational simulations and real experiments were carried out using a six rotary-wind unmanned aerial vehicle (hexacopter—DJI MATRICE 600). The experimental results prove the good performance of the predictive scheme and its ability to regenerate the optimal control policy. Simulation results expand the proposed controller in simulating highly dynamic environments that showing the scalability of the controller

CONTROL VIRTUAL DE UN COMPUTADOR MEDIANTE EL SENSOR KINECT

 Este trabajo presenta la interacción entre el Sensor Kinect y un computador, permitiendo al usuario controlar programas de Windows por medio de gestos, sin necesidad de usar un dispositivo, donde “el control eres tú”. Para el desarrollo del presente trabajo se realiza el rastreo de ciertas partes del cuerpo permitiendo al usuario manipular el ordenador depen- diendo de sus necesidades. En esta aplicación se utiliza dos funcionalidades del sensor Kinect; la cámara de profundidad y skeleton tracking, esto se efectuó utilizando una programación orientada a objetos en Visual Studio 2010 (C#, WPF). Se realizó pruebas experimentales en las cuales se comprobó el desempeño de la propuesta.  Palabras clave: Sensor Kinect, skeleton tracking, programaión orientada a objetos.  ABSTRACT:  This work presents the interaction between the Kinect Sensor and a computer, allowing the user to control Windows programs through gestures without using any devices, where “you are the control”. For the development of this work certain body parts where tracked which allows the user to manipulate the computer depending on their needs. Two of the functionalities of the Kinect sensor are used in this application; the depth camera and skeleton tracking. This was done using Visual Studio 2010 (C#, WPF) object oriented programming. Experimental tests were done with which the performance of the proposal was validated.  Keywords: Kinect sensor, skeleton tracking, object oriented programmin

LAMDA Controller Applied to the Trajectory Tracking of an Aerial Manipulator

In this work, a novel LAMDA (Learning Algorithm for Multivariable Data Analysis) control strategy for trajectory tracking for an aerial manipulator is presented. Four control strategies are developed: Kinematic, Inverse Dynamics, Sliding Mode (SMC), and LAMDA. These are compared with each other in order to verify their performance to fulfill the control objective. Experimental tests were also carried out to validate the developed controllers. In addition, a study of stability has been also performed for all the controllers. The results obtained by the LAMDA controller demonstrated the good performance of the controller in the aerial manipulator robot. To the best of our knowledge, this is the first time a LAMDA controller has been applied to an aerial robotic manipulator

Modelling and control of a mobile manipulator for trajectory tracking

This article presents the mathematical modelling of a mobile manipulator robot to describe its kinematic and dynamic behaviour; the kinematic model is used to design a control law that allows the autonomous tracking of trajectories in structured spaces; while the dynamic model is used to compensate for speed errors in the robot. Additionally, the stability of the proposed control systems is demonstrated, and finally, simulation and experimentation tests are carried out to validate the proper functioning of the controllers. © 2018 IEEE

Teaching stem competencies through an educational mobile robot

The STEM (Science-Technology-Engineering-Mathematics) competences have taken the classroom of new generations, due to the need to instill interest in technical sciences and promote the careers of the future. In underdeveloped countries, free access to technology is limited by the scarcity of economic resources, for this it is required low-cost tools that facilitate better multidisciplinary learning. This work presents the implementation of an educational mobile robot to teach STEM competencies; the physical structure has been designed using 3D modeling and printing in PLA. The electronic system presented in this work is based on the Arduino embedded card that connects distance, weight, temperature and color sensors, two DC motors, and an LCD screen. In addition, the mobile robot has Bluetooth communication to connect it to external devices. The interaction with the user (student) is done through a mobile application and an HMI that is displayed on a personal computer. The robot’s features allow the measurement of physical variables, conversion of magnitudes, analysis of the operation of sensors and actuators, and the use of control interfaces. Experimental performance tests are carried out by individuals with an average age of 12 years (K-12), who are subjected to a learning test before and after applying this proposal. Finally, usability tests are carried out on teachers to validate the system developed. © Springer Nature Switzerland AG 2020

Commercial Entry Control Using Robotic Mechanism and Mobile Application for COVID-19 Pandemic

The control of entry to commercial premises has always existed, but with the pandemic, this has been adapted to include biosecurity measures that guarantee the safety of customers. Technology makes it possible to automate these activities, among the most popular tools are mobile applications that allow easy implementation and good reception from users. This work presents the entrance control to a commercial premise using a robotic mechanism and a mobile application connected through a cloud database. The system is implemented using accessible and low-cost components, among the tools are 3D printing, the ESP32 board, servo motors, proximity sensors, temperature, and heart rate. The mobile application is developed in App Inventor and Firebase is used for the remote database. The system automates the provision of hand sanitizer at the entrance and records these vital signs of the customers, allowing to generate a report of the attendees. The results show the readings carried out by validating the implemented system and a measure of acceptance of this technology is applied with a score of 73%, evidencing the deficiencies of the proposal from the users’ perspectiv