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7/3/2017, 20:00

European Dissidents ALARM

 

Zeppelin: Beyond Gravity

 

Foreign intervention in Greece?

 

Η ανελεύθερη Ελλάδα

 

Η Ελλάδα καταγώγιο;

 

Αν.Επ. Π. Παυλόπουλο

  

Intangible prisons

 

Plausible deniability

 

Images of German w & s

 

Crimes against Humanity

 

"Chimera" - "Bellerophon"

 

pr. Donald Trump

 

  

Legal Notice 87

 

Βδέλλες, αποικιοκρατικές

 

Being a German

 

Legal Notice 84

 

Dirty colonial methods

 

Georgi Markov, BG - KGB

 

Samples of Barbarity

 

Ελλάδα - αποκόλληση

 

Έλληνες, στο έλεος...

 

Harvester's log 16/3/17

 

 

Legal Notice 66

 

Execrable

 

Legal Notice 62

 

  

My story

 

  

Aggression?

 

  

Η Εστία μου

 

  

Why so untidy?

 

  

Αποικιοκρατία

 

  

Εξόντωση Ελλήνων αντιφρονούντων;

 

  

Ζήτημα εμπιστοσύνης

 

  

Μεθοδικότητα

 

  

Ανοικτή Επιστολή πρέσβη ΗΠΑ

Αφορμή, U2RIT vs Ελλάδα;

Βιοηθική

A request to U2RIT

Colonial aggression - 2

Open Letter to UN S.G.

Open Letter to p.C. & p. O.

Δήλωση πρόθεσης επαναπατρισμού

 

Ο "εφιάλτης" της Νυρεμβέργης

Συλλογή Φωτογραφιών

Αίτημα προστασίας, προς Ιταλία

Chroma key, background removal

Science and Ethics

Να συμβάλει και η U2RIT

Θα ξαναφτιάξουν πολλές φορές Άουσβιτς και Zyclon B

 

Split-Screen effect

Η Ζωή είναι Ωραία.

Βόρεια Κορέα

Λευτεριά στους Έλληνες, εξανα- γκαστικά "Εξαφανισμένους"

 

Μυστικές δίκες;

Trustworthiness

Πολιτισμό, ή, απληστία;

Ακραία Στυγνότητα

Η Τέχνη της Επιβίωσης

Political Asylum 3

Επιστροφή στις ρίζες

The Human Cost of Torture

An urgent appeal for solidarity

More obvious than the Sun

Western "culture"

Political Asylum

Έννομη Προστασία

Μια μήνυση που εγείρει ερωτηματικά

 

 

 

Honor your father...

Noise

Creative Greeks

A pair of Dictatorships

Robots with Joint Elasticity and Trajectory Learning (+ 4 Videos) PDF Εκτύπωση E-mail
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Συντάχθηκε απο τον/την Χρήστος Μπούμπουλης (Christos Boumpoulis)   
Σάββατο, 30 Σεπτέμβριος 2017 15:41

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Robots with Joint Elasticity and Trajectory Learning


Dynamic Control of Robots with Joint Elasticity

Abstract. The problem of controlling the dynamic behavior of robots with rigid links but in presence of joint elasticity is much more complex than the one in which the manipulator is assumed to be rigid in both the links and the transmission elements. When the full nonlinear and interacting dynamics is taken into account in the model, it is known that the resulting system may not be feedback linearizable using nonlinear static state-feedback. It is shown here that use of the more general class of dynamic nonlinear state-feedback allows to solve both the feedback linearization and the input-output decoupling problems. A constructive procedure for the decoupling and linearizing feedback is given which is based on generalized system inversion and on the properties of the so-called zero-dynamics of the system. A case study of a planar two-link robot with elastic joints is included. The role of dynamic feedback for tis class of robots is discussed.


Robot Trajectory Learning through Practice

Abstract: We present an algorithm that uses trajectory following errors to improve a feed forward command to a robot. This approach to robot learning is based on explicit modeling f the robot; and uses an inverse of the robot model as part of a learning operator which processes he trajectory errors. Results are presented from a successful implementation of this procedure on the MIT Serial Link Direct Drive Arm. The major point of this paper is that more accurate robot models improve trajectory learning performance, and learning algorithms do not reduce the need for good models in robot control.


Industry 4.0 is a name for the current trend of automation and data exchange in manufacturing technologies. It includes cyber-physical systems, the Internet of things, cloud computing[1][2][3][4] and cognitive computing.

Industry 4.0 creates what has been called a "smart factory". Within the modular structured smart factories, cyber-physical systems monitor physical processes, create a virtual copy of the physical world and make decentralized decisions. Over the Internet of Things, cyber-physical systems communicate and cooperate with each other and with humans in real time, and via the Internet of Services, both internal and cross-organizational services are offered and used by participants of the value chain.[1]

[https://en.wikipedia.org/wiki/Industry_4.0]


The Industry 4.0 trend of automation and data exchange in manufacturing technologies, according to my opinion, for the time being remains strongly incompatible with the current political situation within the international community.

Instead, low cost, production machinery and robots, which manifest local and function oriented, interaction, should become the focal point of the contemporary developments.

The low cost of the proposed robots demands that they should be made, from cheap parts and that their mechanical parts should be elastic.

In order, for this kind of robots, to perform tasks with very high accuracy, it is imperative that, both, their high elasticity, as well as, their embedded inaccuracies, they should become, effectively compensated.

This compensation, I believe that, can be sufficiently achieved by developing software which applies adequately methods as, the Dynamic Control of Robots with Joint Elasticity, the Robot Trajectory Learning through Practice, the Fuzzy Logic, the Image Processing and others.

Science exists within historical time.

Companies exist within historical time.

Leaderships exists within historical time.

Citizens exist within historical time.

Science, companies, leaderships and citizens, interact (according to all possible combinations) with each others, all the time.

The direction, the magnitude and the sign of the magnitude, of our collective Civilization's evolution, may depend upon the dynamic choices of, the scientists, the companies, the leaderships and the citizens.


Christos Boumpoulis

economist

 

Oscillation Damping, Collision Detection and Reaction for a Multi-Elastic-Link Robot Arm

https://www.youtube.com/watch?v=kJPuenyxeps

  

Motion Control of Flexible Joint Robot

https://www.youtube.com/watch?v=CvkO7m-aVaU

  

JOVI: a Model Flexible Manipulator

https://www.youtube.com/watch?v=VF673MGugjY

  

Simple & efficient trajectory learning for smooth navigation

https://www.youtube.com/watch?v=kCF7Uo5vwJY

  

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Τελευταία Ενημέρωση στις Δευτέρα, 02 Οκτώβριος 2017 21:52