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Article
Publication date: 1 December 2004

Giovanni C. Pettinaro

The classic monolithic design of robot agents shows all its limits when tasks require capabilities which go beyond those initially planned. Robot collaboration seems to be a…

539

Abstract

The classic monolithic design of robot agents shows all its limits when tasks require capabilities which go beyond those initially planned. Robot collaboration seems to be a possible answer to the otherwise ever increasing complexity of mechanical and electrical design. Swarm robotics, by exploiting the power of interaction among members, offers such an answer. Simple units can in fact collaborate in achieving their common goal without the need of being aware at all of the rest of the group. The resilience achieved in this way makes the paradigm very appealing in all those applications, where mechanical or software failure may jeopardise the success of the overall mission. The present work summarizes the ongoing research which is being carried out by the author and his team. The hardware and software employed as well as some application experiments are described and discussed.

Details

Industrial Robot: An International Journal, vol. 31 no. 6
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 2 May 2008

Alejandro Ramirez‐Serrano, Hubert Liu and Giovanni C. Pettinaro

The purpose of this paper is to address the online localization of mobile (service) robots in real world dynamic environments. Most of the techniques developed so far have been…

444

Abstract

Purpose

The purpose of this paper is to address the online localization of mobile (service) robots in real world dynamic environments. Most of the techniques developed so far have been designed for static environments. What is presented here is a novel technique for mobile robot localization in quasi‐dynamic environments.

Design/methodology/approach

The proposed approach employs a probability grid map and Baye's filtering techniques. The former is used for representing the possible changes in the surrounding environment which a robot might have to face.

Findings

Simulation and experimental results show that this approach has a high degree of robustness by taking into account both sensor and world uncertainty. The methodology has been tested under different environment scenarios where diverse complex objects having different sizes and shapes were used to represent movable and non‐movable entities.

Practical implications

The results can be applied to diverse robotic systems that need to move in changing indoor environments such as hospitals and places where people might require assistance from autonomous robotic devices. The methodology is fast, efficient and can be used in fast‐moving robots, allowing them to perform complex operations such as path planning and navigation in real time.

Originality/value

What is proposed here is a novel mobile robot localization approach that enables unmanned vehicles to effectively move in real time and know their current location in dynamic environments. Such an approach consists of two steps: a generation of the probability grid map; and a recursive position estimation methodology employing a variant of the Baye's filter.

Details

Industrial Robot: An International Journal, vol. 35 no. 3
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 27 September 2011

Ryspek Usubamatov and K.W. Leong

The purpose of this paper is to investigate theoretically the process of jamming in the peg‐hole type parts and to derive a mathematical model of jamming.

786

Abstract

Purpose

The purpose of this paper is to investigate theoretically the process of jamming in the peg‐hole type parts and to derive a mathematical model of jamming.

Design/methodology/approach

The mathematical model of the jamming of the peg‐hole type parts in assembly process was performed and its boundary conditions, which lead to jamming, defined.

Findings

The equation of the critical angles of declination for the peg, which leads to the peg‐hole jam, was derived. The boundary condition of the angles of declination and the depth of the peg insertion into the hole were defined.

Research limitations/implications

A mathematical model is developed for rigid parts with a hole and for the peg clamped in the rigid assembly mechanisms. The research has not considered flexible deformations and stiffness of the assembly mechanisms, which result in the peg's declination in the assembly process.

Practical implications

The results are represented in the form of the peg's critical angles of declination and critical depth of insertion into the hole, which leads to jamming of the peg‐hole type parts to be assembled. On the basis of the obtained results, it is possible to formulate the tolerances of the declination angles for the assembly mechanisms, which clamp the peg‐type parts.

Originality/value

The proposed method calculating the critical angles of the peg's declination and critical depth of the peg's insertion into the hole for assembly of the peg‐hole type parts, enables one to increase the reliability of the assembly process in the manufacturing industry.

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