International robotics & automation journal, Oct 25, 2022
safety testing, programming and failure anticipation in projects involving industrial robots. To ... more safety testing, programming and failure anticipation in projects involving industrial robots. To make this possible, a virtual model equal to the real one is needed and our research objective is to develop the Digital Twin of the ABB IRB-120 process and robot to digitally validate the robotic cell and minimize installation and project implementation time in the “shop floor” in the context of I4 .0 Currently, a major problem related to Virtual Commissioning activities is the lack of precision between the virtual model and the physical model (digital twin), due to difficulties related to mechanical fabrication after model generation 3D The use of the Process Simulate software (SIEMENS PLM), allowed more accurate and real results to commission the robotic cell of the Robotics Advanced Institute - I.A.R. The main analysis tools are shown in this study.
The industrial robots that carry out tasks with accuracy and rapidity are request more and more. ... more The industrial robots that carry out tasks with accuracy and rapidity are request more and more. The most industrial robots controllers does not consider the dynamics, and they use the PID with constant parameters, it becomes it rigidit with low speed operation. The study and applications of new structure control, that possibiltes good performance in relation to the parameter variations, is studied here. The development of techniques where controlling classics of type PID can be substituted efficiently is the aim this article. Generalized Predictive Control (GPC) has shown to be an effective strategy in many application fields, with good temporal and frequency properties (small overshoot, cancellation of disturbances, good stability and robustness margins), able to cope with important parameters variations. This kind of controller was studied on a robotic platform (PRR) design with 3 DOF’s with the model implementation, simulation and a reprogrammable logic components design (FPGA).
Revista dos Trabalhos de Iniciação Científica da UNICAMP
Os exoesqueletos de auxílio à locomoção baseiam-se no comportamento biomecânico da marcha humana.... more Os exoesqueletos de auxílio à locomoção baseiam-se no comportamento biomecânico da marcha humana. Neste contexto, este trabalho fez um estudo dinâmico de três modelos que podem ser utilizados para um exoesqueleto de membro inferior com dois graus de liberdade. Assim, foram modeladas as estruturas serial, paralelogramo e híbrido (paralelogramo com compensação por mola), com base na equação de Lagrange.
Revista dos Trabalhos de Iniciação Científica da UNICAMP
Exoesqueletos são dispositivos mecatrônicos integrados ao corpo humano, que se destinam a mapear ... more Exoesqueletos são dispositivos mecatrônicos integrados ao corpo humano, que se destinam a mapear e/ou ampliar suas funções motoras interagindo de forma física e cognitiva com o usuário. Visando a aplicação de exoesqueletos, esse projeto propunha a modelagem de um sistema que representasse o funcionamento de membros inferiores, com o estudo, compreensão e simulação do comportamento biomecânico da marcha e sua possível aplicação em protótipo utilizando componentes robóticos e hardware de supervisão e controle.
2014 International Telecommunications Symposium, Aug 1, 2014
ABSTRACT An exhaustive Gaussian approach (EGA) is proposed to evaluate, through numerical simulat... more ABSTRACT An exhaustive Gaussian approach (EGA) is proposed to evaluate, through numerical simulation, the bit error ratio (BER) of direct-detection orthogonal frequency-division multiplexing systems employing square and cross quadrature amplitude modulation. Excellent agreement between the BER estimates from the direct error counting (DEC) and the EGA is shown for different levels of optical signal-to-noise ratio and signal distortion. It is shown that the EGA requires about three orders of magnitude less in computation time than the DEC method for BER levels around 10^(-6), with the difference getting higher for lower BER levels.
2006 Ieee International Conference on Robotics and Biomimetics, 2006
... 1. Mobile robot platform prototype. Fig. ... of half duplex data transmission at speeds up to... more ... 1. Mobile robot platform prototype. Fig. ... of half duplex data transmission at speeds up to 40 kbit/s over distances of 30 meters in-building and 120 ... motor drives, gears, kinematics and dynamics model, and controllers can be modelled in the same diagram using blocks from the ...
International robotics & automation journal, Oct 25, 2022
safety testing, programming and failure anticipation in projects involving industrial robots. To ... more safety testing, programming and failure anticipation in projects involving industrial robots. To make this possible, a virtual model equal to the real one is needed and our research objective is to develop the Digital Twin of the ABB IRB-120 process and robot to digitally validate the robotic cell and minimize installation and project implementation time in the “shop floor” in the context of I4 .0 Currently, a major problem related to Virtual Commissioning activities is the lack of precision between the virtual model and the physical model (digital twin), due to difficulties related to mechanical fabrication after model generation 3D The use of the Process Simulate software (SIEMENS PLM), allowed more accurate and real results to commission the robotic cell of the Robotics Advanced Institute - I.A.R. The main analysis tools are shown in this study.
The industrial robots that carry out tasks with accuracy and rapidity are request more and more. ... more The industrial robots that carry out tasks with accuracy and rapidity are request more and more. The most industrial robots controllers does not consider the dynamics, and they use the PID with constant parameters, it becomes it rigidit with low speed operation. The study and applications of new structure control, that possibiltes good performance in relation to the parameter variations, is studied here. The development of techniques where controlling classics of type PID can be substituted efficiently is the aim this article. Generalized Predictive Control (GPC) has shown to be an effective strategy in many application fields, with good temporal and frequency properties (small overshoot, cancellation of disturbances, good stability and robustness margins), able to cope with important parameters variations. This kind of controller was studied on a robotic platform (PRR) design with 3 DOF’s with the model implementation, simulation and a reprogrammable logic components design (FPGA).
Revista dos Trabalhos de Iniciação Científica da UNICAMP
Os exoesqueletos de auxílio à locomoção baseiam-se no comportamento biomecânico da marcha humana.... more Os exoesqueletos de auxílio à locomoção baseiam-se no comportamento biomecânico da marcha humana. Neste contexto, este trabalho fez um estudo dinâmico de três modelos que podem ser utilizados para um exoesqueleto de membro inferior com dois graus de liberdade. Assim, foram modeladas as estruturas serial, paralelogramo e híbrido (paralelogramo com compensação por mola), com base na equação de Lagrange.
Revista dos Trabalhos de Iniciação Científica da UNICAMP
Exoesqueletos são dispositivos mecatrônicos integrados ao corpo humano, que se destinam a mapear ... more Exoesqueletos são dispositivos mecatrônicos integrados ao corpo humano, que se destinam a mapear e/ou ampliar suas funções motoras interagindo de forma física e cognitiva com o usuário. Visando a aplicação de exoesqueletos, esse projeto propunha a modelagem de um sistema que representasse o funcionamento de membros inferiores, com o estudo, compreensão e simulação do comportamento biomecânico da marcha e sua possível aplicação em protótipo utilizando componentes robóticos e hardware de supervisão e controle.
2014 International Telecommunications Symposium, Aug 1, 2014
ABSTRACT An exhaustive Gaussian approach (EGA) is proposed to evaluate, through numerical simulat... more ABSTRACT An exhaustive Gaussian approach (EGA) is proposed to evaluate, through numerical simulation, the bit error ratio (BER) of direct-detection orthogonal frequency-division multiplexing systems employing square and cross quadrature amplitude modulation. Excellent agreement between the BER estimates from the direct error counting (DEC) and the EGA is shown for different levels of optical signal-to-noise ratio and signal distortion. It is shown that the EGA requires about three orders of magnitude less in computation time than the DEC method for BER levels around 10^(-6), with the difference getting higher for lower BER levels.
2006 Ieee International Conference on Robotics and Biomimetics, 2006
... 1. Mobile robot platform prototype. Fig. ... of half duplex data transmission at speeds up to... more ... 1. Mobile robot platform prototype. Fig. ... of half duplex data transmission at speeds up to 40 kbit/s over distances of 30 meters in-building and 120 ... motor drives, gears, kinematics and dynamics model, and controllers can be modelled in the same diagram using blocks from the ...
Uploads
Papers by Joao Mauricio Rosario