Computer Simulation of Human-Robot Collaboration in the Context of Industry Revolution 4.0

The essential role of robot simulation for industrial robots, in particular the collaborative robots is presented in this chapter. We begin by discussing the robot utilization in the industry which includes mobile robots, arm robots, and humanoid robots. The author emphasizes the application of collaborative robots in regard to industry revolution 4.0. Then, we present how the collaborative robot utilization in the industry can be achieved through computer simulation by means of virtual robots in simulated environments. The robot simulation presented here is based on open dynamic engine (ODE) using anyKode Marilou. The author surveys on the use of dynamic simulations in application of collaborative robots toward industry 4.0. Due to the challenging problems which related to humanoid robots for collaborative robots and behavior in human-robot collaboration, the use of robot simulation may open the opportunities in collaborative robotic research in the context of industry 4.0. As developing a real collaborative robot is still expensive and time-consuming, while accessing commercial collaborative robots is relatively limited; thus, the development of robot simulation can be an option for collaborative robotic research and education purposes

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

A cart-pole inverted pendulum system is one of the underactuated systems that has been used in many applications. This research aims to study the design and the effectiveness of the Adaptive Super-Twisting controller to stabilize the system by comparing it with other previous control methods. A stabilization control of the pendulum upright using the Adaptive Super-Twisting algorithm (ASTA), was investigated. The proposed controller was designed based on the decoupling algorithm method to solve the coupled control input in the system model. We then compared the proposed stabilizing controller with first-order sliding mode control (FOSMC) and Super-Twisting algorithm (STA) in Matlab/Simulink simulation and realistic computer simulation. We developed the computer simulation using anyKode Marilou software, which adopted Open-Dynamic Engine (ODE) as a physics engine. In Matlab/Simulink simulation, we considered three different scenarios: a nominal system, a system with uncertainty, and a disturbed system. Meanwhile, in a computer simulation, we only presented the comparison of different controllers' performances for the realized system. Both results showed that the three controllers could stabilize the pendulum upright with a 0.1 rad initial angular position around the vertical axis. Under the same conditions, the ASTA and STA controllers had similar performances; they both have less chattering and faster convergence than the FOSMC approach. However, the FOSMC approach had the least energy delivered and smallest errors than the other two approaches

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

A cart-pole inverted pendulum system is one of the underactuated systems that has been used in many applications. This research aims to study the design and the effectiveness of the Adaptive Super-Twisting controller to stabilize the system by comparing it with other previous control methods. A stabilization control of the pendulum upright using the Adaptive Super-Twisting algorithm (ASTA), was investigated. The proposed controller was designed based on the decoupling algorithm method to solve the coupled control input in the system model. We then compared the proposed stabilizing controller with first-order sliding mode control (FOSMC) and Super-Twisting algorithm (STA) in Matlab/Simulink simulation and realistic computer simulation. We developed the computer simulation using anyKode Marilou software, which adopted Open-Dynamic Engine (ODE) as a physics engine. In Matlab/Simulink simulation, we considered three different scenarios: a nominal system, a system with uncertainty, and a disturbed system. Meanwhile, in a computer simulation, we only presented the comparison of different controllers' performances for the realized system. Both results showed that the three controllers could stabilize the pendulum upright with a 0.1 rad initial angular position around the vertical axis. Under the same conditions, the ASTA and STA controllers had similar performances; they both have less chattering and faster convergence than the FOSMC approach. However, the FOSMC approach had the least energy delivered and smallest errors than the other two approaches.A cart-pole inverted pendulum system is one of the underactuated systems that has been used in many applications. This research aims to study the design and the effectiveness of the Adaptive Super-Twisting controller to stabilize the system by comparing it with other previous control methods. A stabilization control of the pendulum upright using the Adaptive Super-Twisting algorithm (ASTA), was investigated. The proposed controller was designed based on the decoupling algorithm method to solve the coupled control input in the system model. We then compared the proposed stabilizing controller with first-order sliding mode control (FOSMC) and Super-Twisting algorithm (STA) in Matlab/Simulink simulation and realistic computer simulation. We developed the computer simulation using anyKode Marilou software, which adopted Open-Dynamic Engine (ODE) as a physics engine. In Matlab/Simulink simulation, we considered three different scenarios: a nominal system, a system with uncertainty, and a disturbed system. Meanwhile, in a computer simulation, we only presented the comparison of different controllers' performances for the realized system. Both results showed that the three controllers could stabilize the pendulum upright with 0.1 rad initial angular position around the vertical axis. Under the same conditions, the ASTA and STA controllers had similar performances; they both have less chattering and faster convergence than the FOSMC approach. However, the FOSMC approach had the least energy delivered and smallest errors than the other two approaches