A METHOD OF VERIFYING THE ROBOT'S TRAJECTORY FOR GOALS WITH A SHARED WORKSPACE

The latest market research (Fanuc Polska 2019) shows that the robotization of the Polish industry is accelerating. More and more companies are investing in robotic production lines, which enable greater efficiency of implemented processes and reduce labour costs. The article presents the possibilities of using virtual reality (VR) for behavioural analysis in open robotic systems with a shared workspace. The aim of the article is to develop a method of verification of programmed movements of an industrial robot in terms of safety and efficiency in systems with a shared workspace. The method of the robot program verification on the digital model of the working cell made in VR will be checked. The obtained research results indicate a great potential of this method in industrial applications as well as for educational purposes

Indoor mobile robot attitude estimation with MEMS gyroscope

A method of attitude estimation with a low-cost, strap-on MEMS sensor was proposed in the article. The method relies on dynamic gyroscope bias change estimation and updates during detected stops of the robot. The algorithm has been tested in laboratory with iRobot Roomba robot and should be improved to be useful in an industrial environment. The measurement of attitude of a mobile platform is necessary for correct navigation, especially in autonomous vehicles, which use dead reckoning between position updates from external sources. Since the system is intended to operate indoors, in industrial halls and shops, it cannot avail of GPS and Earth magnetic field sensors because of anomalies, which are common inside the steel constructions. Therefore, the accuracy of the gyroscope-based attitude estimation is significant. The proposed method aims to address the common problem of gyroscope bias drift, by dynamic update of sensor bias and simultaneous use of all gyroscope axes, to improve the quality of the measurements. A popular 3-axial gyroscope and 3-axial accelerometer sensors were used during the test runs. Obtained results suggest that it is possible to improve short-term accuracy of inertial dead reckoning, to get a system that could be of practical use in industrial AGV systems or intelligent vehicles

Indoor vehicle tracking with a smart MEMS sensor

Indoor navigation and vehicle tracking require special measurement techniques. The reference points and routes used by classic AGV (Automated Guided Vehicle) systems are usually buried under floor surface or painted directly on the floor, thus limiting the set of possible transportation paths. However, the indoor environment of an industrial warehouse is dynamic, the number and location of objects inside are subject to frequent changes and these changes might not be reflected in the map of the area. In such conditions, navigation according to the on-board instruments (dead-reckoning) could provide valuable information about the position and orientation of the vehicle. This paper reports test results from a smart sensor using a 6-axis MEMS IMU unit and a self-calibrating procedure for indoor vehicle orientation tracking. The smart sensor, integrated with information from wheel encoders can produce 2D position coordinates suitable for navigation. Original data processing algorithm, applied in the sensor, was developed by the authors as a part of the research project on mobile robotics

An experimental study of exploitation of materials used for prosthetic temporary restorations

Temporary restorations more often play their role for a definitely longer period of time, than the time necessary for implementation of final prosthetic work. Therefore, they are subjected to adverse effects of chemical, physical and thermal factors in a patient's oral cavity. Since loss of temporary prosthetic work can have negative consequences for an entire treatment process, it is important to identify a potential risk of damaging temporary restorations by factors derived from the diet of patients. The aim of this study was to evaluate the influence of components of the beverages, such as coffee and tea, consumed daily by the patients, on the mechanical properties of materials used in temporary restorations. The experimental design applied, as well as gained results, were justified by appropriate, chosen statistical methods. The conducted research demonstrated the change of mechanical properties of studied materials for their flexural strength, as well as microhardness. The tendency of changes in both result variables, compared with the samples kept in neutral environment – distilled water, indicates the decrease in mechanical strength and microhardness of materials conditioned in coffee and tea. It can be claimed that the components of beverages present in an everyday diet of patients have a considerably adverse effect on the quality of materials used for provisional crowns and bridges

An experimental study of exploitation of materials used for prosthetic temporary restorations

Temporary restorations more often play their role for a definitely longer period of time, than the time necessary for implementation of final prosthetic work. Therefore, they are subjected to adverse effects of chemical, physical and thermal factors in a patient's oral cavity. Since loss of temporary prosthetic work can have negative consequences for an entire treatment process, it is important to identify a potential risk of damaging temporary restorations by factors derived from the diet of patients. The aim of this study was to evaluate the influence of components of the beverages, such as coffee and tea, consumed daily by the patients, on the mechanical properties of materials used in temporary restorations. The experimental design applied, as well as gained results, were justified by appropriate, chosen statistical methods. The conducted research demonstrated the change of mechanical properties of studied materials for their flexural strength, as well as microhardness. The tendency of changes in both result variables, compared with the samples kept in neutral environment – distilled water, indicates the decrease in mechanical strength and microhardness of materials conditioned in coffee and tea. It can be claimed that the components of beverages present in an everyday diet of patients have a considerably adverse effect on the quality of materials used for provisional crowns and bridges