Advances in Service and Industrial Robotics
RAAD 2023
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Chapter and Conference Paper
RobotBlockSet (RBS)—A Comprehensive Robotics Framework
In this paper, we present the comprehensive robotics framework RBS, which addresses the critical need for seamless integration between simulation and real-world execution in robotics. The proposed framework provi...
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Article
Open AccessKinematic model calibration of a collaborative redundant robot using a closed kinematic chain
In this paper, we propose a novel approach for the kinematic calibration of collaborative redundat robots, focusing on improving their precision using a cost-effective and efficient method. We exploit the redu...
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Chapter and Conference Paper
Optimizing Robot Positioning Accuracy with Kinematic Calibration and Deflection Estimation
To achieve higher positioning accuracy, it is common practice to calibrate the robot. An essential part of the calibration is the estimation of the kinematic parameters. Due to various nonlinear influences on ...
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Book and Conference Proceedings
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Chapter and Conference Paper
Phase State System for Generating Interactive Behaviors for Humanoid Robots
When it comes to physical collaboration between humans and robots, robots currently have a shortcoming: their ability to observe and adapt to human dynamics is limited. This leads to inefficient collaboration ...
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Chapter and Conference Paper
Geometric Identification of Denavit-Hartenberg Parameters with Optical Measuring System
The absolute accuracy of robots plays an essential role in modern robotics applications that go beyond the typical industrial environment. This paper proposes a method to improve absolute robot accuracy by usi...
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Chapter and Conference Paper
Quality Inspection of Household Machines Using Collaborative Robot
Quality inspection of final products is becoming an increasingly important factor in improving competitiveness in household appliance manufacturing. In this paper, we present a robotic cell concept for quality...
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Chapter and Conference Paper
Bounded Self-motion of Functional Redundant Robots
In this paper, we consider a problem how to exploit a task space motion for lower-priority tasks when the end-effector motion allows some deviation of the motion for the primary task. Using a common redundancy...
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Chapter and Conference Paper
Generation of Smooth Cartesian Paths Using Radial Basis Functions
In this paper, we consider the problem of generating smooth Cartesian paths for robots passing through a sequence of waypoints. For interpolation between waypoints we propose to use radial basis functions (RB...
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Chapter and Conference Paper
Maximizing the End-Effector Cartesian Stiffness Range for Kinematic Redundant Robot with Compliance
Compliant robots with constant joint stiffness (Serial Elastic Actuators - SEA), on the contrary to ones with variable joint stiffness (Variable Stiffness Actuators – VSA), have limited capabilities for modul...
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Chapter and Conference Paper
On-line Adaption of Virtual Guides Through Physical Interaction
Virtual guide framework allows efficient learning and control of complex robot behaviors in human-robot interaction scenarios. The framework can help to guide users to move in a predefined direction or prevent...
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Chapter and Conference Paper
KUKA LWR Robot Cartesian Stiffness Control Based on Kinematic Redundancy
This paper is dealing with one important topic for physical human-robot interaction, and that is achieving and/or optimizing of an arbitrary Cartesian stiffness of robot’s end-effector (EE). The focus is give...
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Chapter and Conference Paper
Combining Virtual and Physical Guides for Autonomous In-Contact Path Adaptation
Several approaches exist for learning and control of robot behaviors in physical human-robot interaction (PHRI) scenarios. One of these is the approach based on virtual guides which actively helps to guide th...
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Chapter and Conference Paper
Virtual Guides for Redundant Robots Using Admittance Control for Path Tracking Tasks
Virtual guides are used in human-robot cooperation to support a human performing manipulation tasks. They can act as guidance constrains to assist the user to move in the preferred direction or along desired p...
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Chapter and Conference Paper
Using Compliancy for Autonomous Execution of Path Following Tasks
The paper deals with a new concept for autonomous path following for a certain class of tasks, where the robot and the environment (object) are tightly coupled and its constraints completely define the motion ...
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Chapter and Conference Paper
Kinematic Control of Redundant Robots in Changing Task Space
In the paper we propose a task-space kinematic velocity controller for tasks which do not require motion in all spatial directions and these directions also change over time. For that, the controller is mapped...
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Article
Reflexive stability control framework for humanoid robots
In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized...
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Chapter and Conference Paper
Extracting the Frequency of Robotic Tasks with an Adaptive Fourier Series: Application to Yo-Yo
On-line determination of the basic frequency of an unknown periodic signal with an arbitrary waveform is crucial in imitating and performing rhythmic tasks with robots. We present a novel method to determine t...
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Chapter
Recent Advances in Intelligent Robots at J. Stefan Institute
This paper presents an overview of the recent robotics research and technology development of advanced robot systems at the J. Stefan Institute in Ljubljana, Slovenia. The presented projects integrate knowledg...
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Article
Integrated Environment for Modelling, Simulation and Control Design for Robotic Manipulators
In this paper an integrated environment for the design of robotic controllers implemented on a PC is described. It is based on the Planar Manipulators Toolbox for dynamic simulation of redundant planar manipul...
