Modelado cinemático y control de robots móviles con ruedas

La presente tesis doctoral aborda el modelado cinemático y control de robots móviles con ruedas. En concreto se profundiza en los siguientes temas: - Se plantea el modelado de una rueda genérica que incluye todos los tipos comunes: fija, orientable centrada, orientable descentrada (castor) y sueca (también denominada universal, Mecanum ó Ilon). - Se describe un procedimiento eficiente para generar modelos cinemáticos, basado en el concepto de espacio nulo, el cual se aplica posteriormente a un gran número de tipos de robots móviles. Todos estos modelos son caracterizados en cuanto a su precisión o transmisión de errores (isotropía). - Se deduce un novedoso planteamiento geométrico que establece la singularidad de cualquier modelo cinemático de cualquier robot con ruedas. Este planteamiento se aplica a todos los tipos de robots anteriores. - Se desarrolla el modelado dinámico del robot para, a través de tres sucesivas aproximaciones y de la caracterización de las fricciones en las ruedas, llegar a un modelado cinemático con deslizamiento. - Se plantea un esquema de control del robot con tres bucles de control anidados (dinámico, cinemático y de planificación) que es conceptualmente similar a los empleados en robots manipuladores. En particular se profundiza en el bucle cinemático de nivel medio e indirectamente en el de planificación, al caracterizar las referencias que puede seguir cada tipo de robot sin error. - Se presentan experiencias de comprobación de los algoritmos de modelado con deslizamiento y de control del robot, realizadas sobre una plataforma eléctrica industrial (carretilla industrial). - Finalmente se desarrollan dos soluciones para las aplicaciones de aparcamiento en paralelo, con pre-planificación y caracterización geométrica, y de seguimiento de línea por visión.Gracia Calandin, LI. (2006). Modelado cinemático y control de robots móviles con ruedas [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/1840Palanci

A hybrid approach based on genetic algorithms to solve the problem of cutting structural beams in a metalwork company

This work presents a hybrid approach based on the use of genetic algorithms to solve efficiently the problem of cutting structural beams arising in a local metalwork company. The problem belongs to the class of one-dimensional multiple stock sizes cutting stock problem, namely 1-dimensional multiple stock sizes cutting stock problem. The proposed approach handles overproduction and underproduction of beams and embodies the reusability of remnants in the optimization process. Along with genetic algorithms, the approach incorporates other novel refinement algorithms that are based on different search and clustering strategies.Moreover, a new encoding with a variable number of genes is developed for cutting patterns in order to make possible the application of genetic operators. The approach is experimentally tested on a set of instances similar to those of the local metalwork company. In particular, comparative results show that the proposed approach substantially improves the performance of previous heuristics.Gracia Calandin, CP.; Andrés Romano, C.; Gracia Calandin, LI. (2013). A hybrid approach based on genetic algorithms to solve the problem of cutting structural beams in a metalwork company. Journal of Heuristics. 19(2):253-273. doi:10.1007/s10732-011-9187-xS253273192Aktin, T., Özdemir, R.G.: An integrated approach to the one dimensional cutting stock problem in coronary stent manufacturing. Eur. J. Oper. Res. 196, 737–743 (2009)Alves, C., Valério de Carvalho, J.M.: A stabilized branch-and-price-and-cut algorithm for the multiple length cutting stock problem. Comput. Oper. Res. 35, 1315–1328 (2008)Anand, S., McCord, C., Sharma, R., et al.: An integrated machine vision based system for solving the nonconvex cutting stock problem using genetic algorithms. J. Manuf. Syst. 18, 396–415 (1999)Belov, G., Scheithauer, G.: A cutting plane algorithm for the one-dimensional cutting stock problem with multiple stock lengths. Eur. J. Oper. Res. 141, 274–294 (2002)Christofides, N., Hadjiconstantinou, E.: An exact algorithm for orthogonal 2-D cutting problems using guillotine cuts. Eur. J. Oper. Res. 83, 21–38 (1995)Elizondo, R., Parada, V., Pradenas, L., Artigues, C.: An evolutionary and constructive approach to a crew scheduling problem in underground passenger transport. J. Heuristics 16, 575–591 (2010)Fan, L., Mumford, C.L.: A metaheuristic approach to the urban transit routing problem. J. Heuristics 16, 353–372 (2010)Gau, T., Wäscher, G.: CUTGEN1: a problem generator for the standard one-dimensional cutting stock problem. Eur. J. Oper. Res. 84, 572–579 (1995)Gilmore, P.C., Gomory, R.E.: A linear programming approach to the cutting stock problem. Oper. Res. 9, 849–859 (1961)Gilmore, P.C., Gomory, R.E.: A linear programming approach to the cutting stock problem. Part II. Oper. Res. 11, 863–888 (1963)Ghiani, G., Laganà, G., Laporte, G., Mari, F.: Ant colony optimization for the arc routing problem with intermediate facilities under capacity and length restrictions. J. Heuristics 16, 211–233 (2010)Gonçalves, J.F., Resende, G.C.: Biased random-key genetic algorithms for combinatorial optimization. J. Heuristics (2011). doi: 10.1007/s10732-010-9143-1Gradisar, M., Kljajic, M., Resinovic, G., et al.: A sequential heuristic procedure for one-dimensional cutting. Eur. J. Oper. Res. 114, 557–568 (1999)Haessler, R.W.: One-dimensional cutting stock problems and solution procedures. Math. Comput. Model. 16, 1–8 (1992)Haessler, R.W., Sweeney, P.E.: Cutting stock problems and solution procedures. Eur. J. Oper. Res. 54(2), 141–150 (1991)Haessler, R.W.: Solving the two-stage cutting stock problem. Omega 7, 145–151 (1979)Hinterding, R., Khan, L.: Genetic algorithms for cutting stock problems: with and without contiguity. In: Yao, X. (ed.) Progress in Evolutionary Computation. LNAI, vol. 956, pp. 166–186. Springer, Berlin (1995)Holthaus, O.: Decomposition approaches for solving the integer one-dimensional cutting stock problem with different types of standard lengths. Eur. J. Oper. Res. 141, 295–312 (2002)Kantorovich, L.V.: Mathematical methods of organizing and planning production. Manag. Sci. 6, 366–422 (1939) (Translation to English 1960)Liang, K., Yao, X., Newton, C., et al.: A new evolutionary approach to cutting stock problems with and without contiguity. Comput. Oper. Res. 29, 1641–1659 (2002)Poldi, K., Arenales, M.: Heuristics for the one-dimensional cutting stock problem with limited multiple stock lengths. Comput. Oper. Res. 36, 2074–2081 (2009)Suliman, S.M.A.: Pattern generating procedure for the cutting stock problem. Int. J. Prod. Econ. 74, 293–301 (2001)Talbi, E.-G.: A taxonomy of hybrid metaheuristics. J. Heuristics 8, 541–564 (2002)Vahrenkamp, R.: Random search in the one-dimensional cutting stock problem. Eur. J. Oper. Res. 95, 191–200 (1996)Vanderbeck, F.: Exact algorithm for minimizing the number of set ups in the one dimensional cutting stock problems. Oper. Res. 48, 915–926 (2000)Wagner, B.J.: A genetic algorithm solution for one-dimensional bundled stock cutting. Eur. J. Oper. Res. 117, 368–381 (1999)Wäscher, G., Haußner, H., Schumann, H.: An improved typology of cutting and packing problems. Eur. J. Oper. Res. 183, 1109–1130 (2007

Computer Based Production of Saffron (Crocus Sativus L.): From Mechanical Design to Electronic Control

[EN] The article describes the design and implementation of a computer based industrial system for production of saffron. The proposal is based on an automated greenhouse with temperature, light and irrigation control together with harvesting and stigma separation devices. The harvesting device has been specifically developed using scalability properties and computer vision. The greenhouse is designed to increase the crop density if required generating a more sustainable and continuous production. The main advantages of the proposed method are as follows: the harvesting of the saffron flower and the procedure to get the stigmas are carried out in the same process; the greenhouse allows to significantly extend the flowering time of the saffron plant; and higher productivity per worker and per planting area is achieved. In order to show the feasibility and applicability of the proposed approach, real experimentation has been carried out for the extension of the flowering time and for the harvesting and stigma separation devices and successful results have been obtained.This work has been partially supported by the European Commission under Grant No. 683987. The authors thank Enrique Gil Botella for helping with the machine design and drawings and Angel Flores Pérez for helping to generate the program for the cutting system.Perez-Vidal, C.; Gracia Calandin, LI. (2020). Computer Based Production of Saffron (Crocus Sativus L.): From Mechanical Design to Electronic Control. Computers and Electronics in Agriculture. 169:1-11. https://doi.org/10.1016/j.compag.2019.105198S11116

Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems

© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.” Upon publication, authors are asked to include either a link to the abstract of the published article in IEEE Xplore®, or the article’s Digital Object Identifier (DOI).This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.This work was supported in part by research under Project DPI2011-27845-C02-01 (Spanish Government), Projects PAID-05-11-2640, and PAID-00-12-SP20120159, (Universitat Politecnica de Valencia, Spain), and Projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361, and UNLP I164 in Argentina. Recommended by Associate Editor M. Zefran.Gracia Calandin, LI.; Garelli, F.; Sala, A. (2013). Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems. IEEE Transactions on Control Systems Technology. 21(6):2391-2399. https://doi.org/10.1109/TCST.2012.2231866S2391239921

A path conditioning method with trap avoidance

This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2011-27845-C02-01 of the Spanish Government (Spain), research project PAID-05-11-2640 of the Technical University of Valencia (Spain), and the Argentinian Government (UNLP 11I127, CONICET PIP 112-200801-0, ANPCyT PICT 2007 00535).Gracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A path conditioning method with trap avoidance. Robotics and Autonomous Systems. 60(6):862-873. https://doi.org/10.1016/j.robot.2012.01.009S86287360

Control de robots industriales con realimentación visual: Image-Based Visual Servoing

Este artículo docente establece las bases del control de robots por realimentación visual, en concreto el control en el espacio de la imagen. Al terminar el artículo, el alumno será capaz de definir el concepto conocido como visual servoing, sus propiedades generales así como establecer las diferencias existentes entre un control realizado en el espacio Cartesiano y un control en el espacio de la imagen. El alumno podrá además aprender las propiedades principales de este último con ejemplos y preguntas interactivas a lo largo del artículo.Solanes Galbis, JE.; Gracia Calandin, LI. (2021). Control de robots industriales con realimentación visual: Image-Based Visual Servoing. http://hdl.handle.net/10251/160717DE

Representación y caracterización de la respuesta temporal de los sistemas de segundo orden

Este artículo docente define los sistemas de segundo orden sin ceros en el dominio temporal y en el dominio de Laplace. Al terminar el artículo, el alumno será capaz de definir y obtener matemáticamente las características temporales de este tipo de sistemas. El alumno podrá además aprender las propiedades principales de este último con ejemplos y preguntas interactivas a lo largo del artículo.Solanes Galbis, JE.; Gracia Calandin, LI. (2022). Representación y caracterización de la respuesta temporal de los sistemas de segundo orden. http://hdl.handle.net/10251/18481

Representation of Robots in Matlab

Electronic versíon of an article published as International Journal of Software Engineering and Knowledge Engineering, Volume 29, issue 1, 2019, pp. 23-42. 10.1142/S0218194019500025 © World Scientific Publishing Company[EN] This paper presents a new software tool, namely RoboClass, to include and manage realistic robots and elements of the environment in Matlab simulations. These elements are loaded from CAD models using an STL-file and can be as detailed as desired. All the steps involved in the process are explained in detail. Furthermore, two illustrative examples are considered to show the effectiveness and versatility of the proposed approach: the ABB-IRB120 industrial robot and the CSA research robot. The developed tool is especially useful both for robotics research and teaching.Sanchez, A.; Gracia Calandin, LI.; Morales, R.; Perez-Vidal, C. (2019). Representation of Robots in Matlab. International Journal of Software Engineering and Knowledge Engineering. 29(1):23-42. https://doi.org/10.1142/S0218194019500025S234229

CAM-Rob postprocessor based on a fuzzified redundancy resolution scheme

This work highlights the applicability of different redundancy resolution schemes to the postprocessing stage from a computer-aided manufacturing (CAM) system to an industrial redundant workcell. The inverse kinematic problem for redundant manipulators is not straightforward and, therefore, it is commonly solved using an iteratively approach based on redundant resolution schemes at the velocity level. In this work, two conceptions of redundancy resolution schemes are evaluated and a novel fuzzy inference system is developed to improve the performance during the toolpath tracking in order to avoid singularities and to maintain a preferred reference posture. For this purpose, the fuzzy inference engine properly adjusts the weight of each joint in the calculation of the performance criterion vectors. The proposed approach is validated in the real prototyping of a windmill blademold using a KUKA KR15/2manipulator mounted on a linear track and synchronized with a rotary table. To the authors knowledge, the proposed method and the results shown are novel in the context of postprocessing techniques from CAM systems to industrial robots devoted to milling works. With the same guidelines, the postprocessor programmed inside the CAM system is expected to be easily applicable not only to other industrial robots, but also for different applications such as welding or painting labors.This research is partially supported by the Technical University of Valencia (PAID-00-09-3092, PAID-05-11-2640), project PROMETEO 2009/063 of Generalitat Valenciana and research project DPI2009-14744-C03-01 of the Spanish Government.Andrés De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, J. (2012). CAM-Rob postprocessor based on a fuzzified redundancy resolution scheme. International Journal of Advanced Manufacturing Technology. 62(5):705-718. https://doi.org/10.1007/s00170-011-3836-yS705718625Andres J, Gracia L, Tornero J (2011) Calibration and control of a redundant robotic workcell for milling tasks. Int J Comp Int Manuf 24(6):561–573Patel RV, Shadpey F (2005) Control of redundant robot manipulators: theory and experiments. Springer, New YorkHartenberg RS, Denavit J (1955) A kinematic notation for lower pair mechanisms based on matrices. Trans ASME J App Mech 77:215–221Andres J, Gracia L, Tornero J (2009) Inverse kinematics of a redundant manipulator for CAM integration. An industrial perspective of implementation, Proceedings of the 2009 IEEE International Conference on Mechatronics, MalagaWhitney DE (1969) Resolved motion rate control of manipulators and human prostheses. IEEE Trans Man-Machine Syst 10(2):47–53Whitney DE (1972) The mathematics of coordinated control of prosthetic arms and manipulator, ASME J. Dyn Sys Meas Cont 94(4):303–309Angeles J (2003) Fundamentals of robotic mechanical systems: theory, methods and algorithms. Springer, New YorkHuo L, Baron L (2008) The joint-limits and singularity avoidance in robotic welding. Industrial Robot 35(5):456–464Liégeois A (1977) Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE Trans Syst Man Cybern SMC-7:245–250Gracia L, Andres J, Tornero J (2009) Trajectory tracking with a 6R serial industrial robot with ordinary and non-ordinary singularities. Int J Cont Auto Syst 7(1):85–96Angeles J, López-Cajún CS (1992) Kinematic isotropy and the conditioning index of serial robotic manipulators. Int J Robot Res 11(6):560–570Khan WA, Angeles J (2006) The kinetostatic optimization of robotic manipulators: the inverse and the direct problems. J Mech Des 128(1):168–178Siemens Corp (2009) NX Documentation. In: {$UGII_base_dir}\UGDOCMaza JI, Ollero A (2000) Herramienta MATLAB-Simulink para la simulación y el control de robots manipuladores y móviles, Actas de las XXI Jornadas de Automática, Sevilla, SpainRoger Jang JS, Gulley N (2008) Fuzzy logic toolbox: user’s guide; revised for version 2.2.7. The Math Works, Inc.Qdesign SRL (2007) CAD-CAM off line programming for industrial robots. ROBOmove on line help v. 2.0 [online]. Available from: http://www.qdrobotics.com/eng/robomove.php . Accessed 28 Nov 2011Andrés J, Gracia L, Marti H, Tornero J (2009) Toolpath postprocessing for three axes milling in redudant robotic workcells by means of fuzzy integration in a CAM platform, Proceedings of the IEEE International Conference on Mechatronics, Malaga, Spai

PWM and PFM for visual servoing in fully decoupled approaches

In this paper, novel visual servoing techniques based on Pulse Width Modulation (PWM) and Pulse Frequency Modulation (PFM) are presented. In order to apply previous pulse modulations, a fully decoupled position based visual servoing approach (i.e. with block-diagonal interaction matrix) is considered, controlling independently translational and rotational camera motions. These techniques, working at high frequency, could be considered to address the sensor latency problem inherent in visual servoing systems. The expected appearance of ripple due to the concentration of the control action in pulses is quantified and analyzed under simulated scenario. This high frequency ripple does not affect the system performance since it is filtered by the manipulator dynamics. On the contrary it can be seen as a dither signal to minimize the impact of friction and overcome back-lashing.This work was supported in part by the Spanish Government under Grant BES-2010-038486 and Project DPI2013-42302-R.Muñoz Benavent, P.; Solanes Galbis, JE.; Gracia Calandin, LI.; Tornero Montserrat, J. (2015). PWM and PFM for visual servoing in fully decoupled approaches. Robotics and Autonomous Systems. 65(1):57-64. doi:10.1016/j.robot.2014.11.011S576465