- TITLE:
EXAMINATION ON BIPEDAL ROBOTS STRUCTURES AND MOTION CONTROL METHODS
- AUTHOR(S):
H. Kuscu, E. Yilmazlar, T. Tez
- ABSTRACT:
In this study, it is aimed to determine the equipment to be used in bipedal robots, walking motion
structures, balance control systems and the points to be considered in the balance motion algorithm
of the robot. In bipedal robots, the main purpose is to imitate human movement and to stay in
balance. There are many studies in this field about bipedal robots, humanoid robots. Bipedal robots
are an integrated system in which many mechanical, electronic equipment, control algorithms are
integrated into the body. It is important to determine the mechanical, electromechanical structures,
equilibrium, motion algorithms and control method used in such systems. The properties of the units
used in this study and the control methods are explained. The effect of the work on the movement of
the joints and the factors to be considered in the control of the center of gravity according to this
change are explained.
- TITLE:
CALIBRATION OF TORQUE SENSOR PROTOTYPE USING COMMERCIAL TORQUE SENSOR
- AUTHOR(S):
B. Koprivica, M. Sucurovic, V. Vujicic, M. Bozic, M. Rosic
- ABSTRACT:
The aim of this paper is to present the measurement method, measurement setup and results of
calibration of torque sensor prototype under rotating operating conditions. By comparison with
reference torque sensor, a transfer function is determined. Comparison of the calculated and
reference torque is made and corresponding relative deviations are calculated. A proper discussion
of all the results presented is also given in the paper.
- TITLE:
SLIP COMPENSATION OF U/F CONTROLLED INDUCTION MACHINE THROUGH EDUCATIONAL LABORATORY SETUP
- AUTHOR(S):
M. Rosić, M. Luković, M. Bjekić, B. Koprivica
- ABSTRACT:
This paper evaluates several slip compensation methods of U/f control of induction machine
(IM). At first, most attractive compensation methods are presented theoretically and analysed by
means of simulation in MATLAB/Simulink. Then, two compensation methods are implemented and
tested in real-time DSP based experimental setup with dSPACE1104 platform after witch proper
discussion of the results is given. Educational and didactical aspect of the experimental setup is
emphasized through control algorithm developed in Simulink and graphical user interface developed
in Control Desk. Users of this application can evaluate different slip compensation techniques,
modify them and easily implement and test new compensation algorithms by using an intuitive
graphical user interface.
- TITLE:
MOBILE CLIMBING ROBOTS WITH ENERGY ACCUMULATORS
- AUTHOR(S):
Y. Kuznetsov, M. Polishchuk
- ABSTRACT:
The article proposes fundamentally new designs of mobile robots of arbitrary orientation in the
technological space. The analysis of existing systems of mobile robots of arbitrary orientation is
presented. An analysis is made of the methods of coupling robots to a surface of arbitrary orientation
when performing technological operations. The difference between the proposed robot designs
consists in the presence of energy accumulators that allow accumulating the potential energy at each
previous step of the motion and transforming it into kinetic energy of motion at the next step of
displacement. Two types of batteries are proposed: in the form of mechanical springs and
compressed gas. Mathematical models of functioning of energy accumulators and calculation of their
parameters are given. The results of modeling the operation of energy accumulators in the form of
graphical and analytical dependences are given. Recommendations for improving the design of
mobile robots are suggested.
- TITLE:
THEORETICAL ASPECTS OF AUTOMATED DESIGNING SPATIAL FRAMEWORKS FOR TECHNOLOGICAL AND MACHINE-TOOLS EQUIPMENT
- AUTHOR(S):
Y. Kuznetsov, D. Dmitriev, S. Rusanov, A. Omelchuk
- ABSTRACT:
This paper describes the modern development trend for multifunctional equipment for the
complex surface cutting, many-coordinate manipulation, 3D printing and the others processing. The
paper purpose is to analyze the behavior of MPS equipment in relation to the use of typical
processing strategies (embodied in modern CAM systems) and the conformity of the output
trajectories (consequently, the final product quality) to the processing accuracy criteria, taking into
account frame layout rigidity for the general external influences (cutting forces, etc.), as well as the
establishment of an hierarchy of selected strategies. Based on the results of series of calculations, the
preliminary recommendations made.
