UI logo Institute of
Informatics
 

Department of Sensor Systems

 Slovenská verzia
 
 

Laboratory


Department has not any laboratory now, but robot control box is available (Fig. 1) and we expect robot effectors to be delivered soon.

Applications



Welding Robot OJ-10
Fig. 1. Control box for robot OJ-10
Fig. 1. Control box for robot
OJ-10
   During 1980-th the Institute developed some parts of robot control systems for welding robot workcells OJ-10. Many of them are still in use today. The users have requested new workcells and upgrade of existing ones. Rapean Servis Detva, the firm servicing the workcells, asked the Czech firm MEFI, s.r.o to develop a new control box. The new, modern, EtherCAT based control box for OJ-10 workcells is available (Fig. 1). New servodrives are installed on robot effectors (Fig. 2). The members of Department of Sensor Systems are developing control software for OJ-10 with the new control box and servomotors.

Relevant publications:
  • Andris, P., Building an Embedded System Based on the Initial RAM Disk, Open Source for You, Vol.2, Nr.1, 2013 pdf
  • Andris, P., Dobrovodsky, K., Developing an Embedded System Based on a Real-Time Version of Linux, Proc. of the 23rd International Conference on Robotics in Alpe-Adria-Danube Region, CD, ISBN 978-80-227-4219-1, IEEE catalog no.34043, Sep 3-5, Smolenice, Slovakia, 2014, link

  • Contact persons:
    Doc. Ing. Karol Dobrovodský, PhD.; RNDr. Pavel Andris, CSc.
    Fig. 2. OJ-10 arm with new servomotors
    Fig. 2. OJ-10 arm with new servomotors


    Experimental platform for tests of compliant structures
       The purpose of this test bed is for verification of performance characteristics of various compliant devices frequently used in robotics (e.g. mechanisms, grippers and mechanical amplifiers). It enables to apply HIL and SIL approached as suitable tools in design of complex mechatronic devices.
       For performing first experiments mutual interconnection between actuators and control system works under MATLAB environment what allows to make experiments with standard industrial actuators. As position feedback are used two approaches - encoder included in linear actuator and image processing of data from webcam. Small disadvantage of actual realization are relatively low working frequencies, the system can work.

    Position feedback - image processing

    Comparsion of feedback data

       The platform enables performing tests and verification of control algorithms (control of actuator, sensing positions and image processing). Finally, any compliant robotic device can be designed to satisfy desired features in an optimal way.

    Relevant publications:
  • HRICKO, Jaroslav. Experimental platform for performance tests of compliant robotic devices. In Advances in Robot Design and Intelligent Control: Proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). - Springer ; Switzerland, 2015, advances in Intelligent Systems and Computing, vol. 371, p. 37-45. ISBN 978-3-319-21289-0.ISSN 2194-5357. Type: AECA link
  • HRICKO, Jaroslav - VAGAŠ, Marek. Interconnection between industrial small/micro linear actuator and MATLAB - replacement of PLC controller for intelligent robotic systems. In Transfer inovácií, 2014, vol. 30, p. 141-145. ISSN 1337-7094. Type: BDF pdf


  • Contact persons:
    Ing. Štefan Havlík, DrSc., Ing. Jaroslav Hricko, PhD.
    Experimental platform for tests of compliant structures


    Flexural bodies for force/displacement sensors
    The design of the flexural bodies for one and two axis force/displacement sensors ware developed. Wireless transmission with information about the sensed quantity is utilized. Consequently that, some specific design requirements should be taken into account e.q. Material of whole structure, the output - flexural characteristics, etc.

    Contact persons:
    Ing. Štefan Havlík, DrSc., Ing. Jaroslav Hricko, PhD.
    Deformation of two axes force/displacement sensor