Integration for the next generation: embedding force control into industrial robots

In this paper, the interaction control schemes suitable for implementation on industrial robot units are presented. In particular, the focus is on impedance control and parallel control, which are conceived to manage the interaction with a more or less compliant environment without requiring an accurate model thereof. All the considered schemes are based on an inner motion control loop, which can be the usual independent joint control of PID type or an advanced model-based motion control law with superior tracking performance. The inner motion control loop is in charge of tracking the reference trajectory computed by the outer interaction control loop. Special emphasis is given to controlling 6-degrees-of-freedom (DOF) interaction tasks involving the end-effector position and orientation when a contact force and moment are applied.     

Robot impedance control with nondiagonal stiffness

Impedance control is a widely adopted strategy to execute tasks involving interaction of a robot manipulator with the environment. The goal is to impose an end-effector dynamic behavior described by a mechanical impedance. A crucial point is the definition of the elastic contribution in the impedance equation according to the task requirements; this is achieved by a proper choice of the equivalent stiffness matrix. In the paper an energy based argument is used to derive the dynamic equation of a mechanical impedance characterized by a translational part and a rotational part. The adoption of unit quaternions to describe orientation displacements leads to a geometrically consistent definition of the stiffness in the impedance equation. Remarkably, off-diagonal elements in the equivalent stiffness matrix are considered; namely, coupling forces with orientation displacements and coupling moments with position displacements. The equilibrium and the stability of the impedance equation are discussed as well as the geometric properties of the stiffness matrix     

A decentralized kinematic control architecture for collaborative and cooperative multi-arm systems

In this paper a two-layer decentralized framework for kinematic control of cooperative and collaborative multi-robot systems is developed. The motion of the system is specified at the workpiece level, by adopting a task-oriented formulation for cooperative tasks. The first layer computes the motion of the single arms in the system. In detail, the control unit of each robot computes the end-effector motion references in a decentralized fashion on the basis of the knowledge of the assigned cooperative task and the motion references computed by its neighbors. Then, in the second layer, each control unit computes the reference joint motion of the corresponding manipulator from the end-effector reference motion. The approach is, then, tested in simulation on a work-cell composed by several manipulators, and experimentally on a dual-arm kinematically redundant work-cell composed by industrial manipulators.     

Optimal far-field focusing of uniformly spaced arrays subject to arbitrary upper bounds in nontarget directions

A new approach providing new theoretical results to the optimal far-field focusing of uniformly spaced arrays, subject to a completely arbitrary mask for sidelobe bounds, is presented and discussed. In both cases of linear or planar arrays (with rectangular boundaries), it is first shown that the problem can be formulated, without any loss to performances on the maximum, as a linear programming one, guaranteeing a globally optimal solution. Second, a sufficient uniqueness criterion for the solution of the overall problem is also developed, which shows how the solution may not be unique (as is actually the case) when planar arrays are considered. In addition, further globally effective optimization procedures are proposed for the latter case in order to optimize directivity, smoothness of excitations, or other performance parameters in the set of equivalent solutions. Last, an extension to planar arrays with a nonrectangular boundary is also given. A thorough numerical analysis confirms the effectiveness of the approach proposed and of the solution codes developed.     

Second-order kinematic control of robot manipulators with Jacobiandamped least-squares inverse: theory and experiments

This paper describes the application of a closed-loop inverse kinematics algorithm to kinematic control of a robot manipulator. The scheme is formulated at the second-order level, i.e., in terms of velocity and acceleration variables, so as to allow the use of joint space computed torque control. A damped least-squares inverse of the Jacobian is used to ensure feasible joint motion in the neighborhood of kinematic singularities. The theoretical analysis of algorithm convergence is performed on the basis of a Lyapunov argument. The results of experiments on a six-joint industrial robot with open control architecture are presented     

Iterative simplex-finite difference method for the characterizationof optical waveguides

A new method is presented for reconstructing smooth refractive index profiles of optical waveguides from measured effective indexes. It is based on the semivectorial finite difference method to solve the polarized wave equation for a given refractive index profile. An iterative simplex algorithm is used to find the best refractive index parameters that give, as a solution, effective indexes close to the measured ones. The method is applied successfully to Ag⁺-Na ⁺ ion-exchanged glass slab waveguides and to diffused Mg/Ti:LiNbO₃ slab waveguides. Dopant concentration profiles are obtained by using secondary ion mass spectrometry. The relationship between the refractive index change and the dopant concentration is determined for both cases. The iterative simplex algorithm-finite difference method (ISA-FDM) is compared to other index profile reconstruction methods, and the advantages with respect to WKB-based methods are pointed out     

Endobag

A simple method for placing specimens in a protective bag during video-assisted thoracic surgery has been developed. The equipment is readily available, and the technique is easy to perform.     

On the formation of radiation-induced defects in fluoroaluminate glasses

The spectra of electron paramagnetic resonance (EPR) of fluoroaluminate glass (FAG-36) based on mineral usovite Ba₂CaMgAlF₁₄ were studied. The paramagnetic centers responsible for EPR signals were induced by ion bombardment of the substrates prepared from this glass. The N⁺, O⁺, Ar⁺ and Pb + ions with energy E = 150 keV were used. The integrated dose D was 2 × 10¹⁶ ions/cm². It is shown by means of isochronal anneal experiments and computer simulation of the EPR spectra that they contain four components: broad Gaussian line (GL) with g = 2.016 and σ oscillating in the range 30–40; two anisotropic spectra with g_z = 2.016, g_y = 2.009; g_x = 2.001 (FA₁) and g_z = 2.045; g_y = 2.010; g_x = 1.98 (FA₂) as well as narrow isotropic line of Lorentzian shape with g = 2.0025 and ΔH = 0.6 mT. The comparison of obtained results with literature data for γ-irradiated fluoride glasses and ion-implanted oxide glasses of different compositions permitted to conclude that GL is due to hole defects typical of fluoride glasses and localized on several anions (fluorines and oxygen(s)); anisotropic FA₁- and FA₂-spectra are attributed to molecular 0₂⁻-ions, and narrow isotropic signal is supposedly assigned to big molecular ions (O₂O⁻, 0₄⁻ , CO⁺, CO⁻) located in voids of damaged implantation layer.     

Theoretical waveguide optimization in a Ti:LiNb0(3) Mach-Zehnder modulator by Mg diffusion

Magnesium diffusion can be used to optimize the characteristics and performance of a Ti:LiNbO(3) Mach-Zehnder modulator. Suitable use of titanium/magnesium double diffusion reduces fiber-waveguide coupling loss, minimizes the modulator size by increasing the bend radius of curvature without increasing bend losses, and decreases separation of the modulator arms. The proposed method also makes it possible to reduce the modulating voltage by improvement of guided-wave lateral confinement. Secondary ion mass spectrometry and 771-line techniques are used to characterize Ti/Mg:LiNbO(3) waveguides. A numerical optimization procedure based on the full vectorial beam-propagation method is presented.