Tomáš Kot
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Automatic Optimization of Industrial Robotic Workstations for Sustainable Energy Consumption Open
Industrial robotic workstations contribute substantially to the total energy demand of modern manufacturing, yet most existing energy-saving approaches focus on modifying robot trajectories, motion parameters, or the position of the robot’…
Variable-Orifice-Size Nozzle for 3D Printing Open
This paper presents the general framework of the problem and the basis for the proposed idea, which lies in the design of a new extrusion nozzle for fused-deposition 3D printing, featuring a variable orifice that enables adaptive extrusion…
Enhancing Data Collection Through Optimization of Laser Line Triangulation Sensor Settings and Positioning Open
This study proposes a new approach to improving laser sensor data collection through optimised sensor settings. Specifically, it examines the influence of laser sensor configurations on laser scanning measurements obtained by using a laser…
Optimized Grid Voxelization for Obstacle Avoidance in Collaborative Robotics Open
Voxelization into a fixed voxel grid is used for simplicity of processing and data format for applications such as dynamic re-planing of a collaborative robot path around a dynamic obstacle. In this case, it may be undesirable that convent…
Hand Gesture Interface for Robot Path Definition in Collaborative Applications: Implementation and Comparative Study Open
The article explores the possibilities of using hand gestures as a control interface for robotic systems in a collaborative workspace. The development of hand gesture control interfaces has become increasingly important in everyday life as…
Study of working conditions by dust factor in foundries with different production patterns Open
The results of the dust content study at workplaces of foundry parts with different production patterns are considered. It is noted that the dust content in the foundry sections working area air exceeds the maximum permissible concentratio…
Methodology for assessing the dustiness of the air environment of the working areas of foundries Open
The content of harmful substances in the air is an important parameter of the working conditions of foundry workers. Due to the peculiarities of the technology, there are many sources of intense dust emission in the foundry. The distributi…
Camera Arrangement Optimization for Workspace Monitoring in Human–Robot Collaboration Open
Human–robot interaction is becoming an integral part of practice. There is a greater emphasis on safety in workplaces where a robot may bump into a worker. In practice, there are solutions that control the robot based on the potential ener…
Expert assessment of the effectiveness of measures to improve working conditions in foundries Open
The expert evaluation of the effectiveness of measures to improve working conditions in foundries using the integrated assessment methodology is considered. Four classes of foundries have been established according to working conditions, w…
The study of visual working conditions in the foundry Open
The results of the assessment of visual conditions at the workplaces of various sections of foundries in comparison with acceptable values are presented and the necessity of calculating the estimated illumination at the stage of reconstruc…
IMPROVMENT OF PESTICIDE APPLICATION QUALITY IN WINDY WEATHER Open
The application of process solutions of pesticides in the field is inevitably accompanied by losses, which it is not possible to eliminate completely at this stage. The greatest damage to the environment is caused by the drifting of prepar…
Distributed Camera Subsystem for Obstacle Detection Open
This work focuses on improving a camera system for sensing a workspace in which dynamic obstacles need to be detected. The currently available state-of-the-art solution (MoveIt!) processes data in a centralized manner from cameras that hav…
An Automated Conversion Between Selected Robot Kinematic Representations Open
This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an inp…
Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation Open
In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected fo…
Using Elastic Bands for Collision Avoidance in Collaborative Robotics Open
The paper presents a new version of the existing elastic band algorithm used for path finding, with application in the field of collaborative robotics and point-to-point movements. The algorithm places control points on the path and dynami…
Multirepresentations and Multiconstraints Approach to the Numerical Synthesis of Serial Kinematic Structures of Manipulators Open
This paper presents a set of algorithms for the synthesis of kinematic structures of serial manipulators using multiple constraint formulation and provides a performance comparison of different kinematic representations, the Denavit-Harten…
Generating Synthetic Depth Image Dataset for Industrial Applications of Hand Localization Open
In this paper, we focus on the problem of applying domain randomization to produce synthetic datasets for training depth image segmentation models for the task of hand localization. We provide new synthetic datasets for industrial environm…
ANALYSIS OF INCREASING THE FRICTION FORCE OF THE ROBOT JAWS BY ADDING 3D PRINTED FLEXIBLE INSERTS Open
3D printing technology plays a key role in the production of prototypes and final functional parts. The ability to produce almost any shape using this technology in combination with lightweight materials is often used to minimise the weigh…
The method of comprehensive assessment of working conditions in the foundry production Open
The method of a comprehensive assessment of the working conditions of workers in foundries is given. The main production factors of working conditions are determined and a relative complex indicator is introduced that takes into account th…
Using Virtual Scanning to Find Optimal Configuration of a 3D Scanner Turntable for Scanning of Mechanical Parts Open
The article describes a method of simulated 3D scanning of triangle meshes based on ray casting which is used to find the optimal configuration of a real 3D scanner turntable. The configuration include the number of scanners, their elevati…
Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell Open
We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent unev…
Chimney Sweeping Robot Based on a Pneumatic Actuator Open
The need of improving the quality of professions led to the idea of simplification of processes during chimney sweeping. These processes have been essentially the same for tens of years. The goal of this paper is to bring an automation ele…
Increasing the Reliability of Data Collection of Laser Line Triangulation Sensor by Proper Placement of the Sensor Open
In this paper, we investigated the effect of the incidence angle of a laser ray on the reflected laser intensity. A dataset on this dependence is presented for materials usually used in the industry, such as transparent and non-transparent…
Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis Open
Researchers often deal with the synthesis of the kinematic structure of a robotic manipulator to determine the optimal manipulator for a given task. This approach can lower the cost of the manipulator and allow it to achieve poses that mig…
Matching Point Clouds with STL Models by Using the Principle Component Analysis and a Decomposition into Geometric Primitives Open
While repairing industrial machines or vehicles, recognition of components is a critical and time-consuming task for a human. In this paper, we propose to automatize this task. We start with a Principal Component Analysis (PCA), which fits…
TESTING OF GLUED JOINTS ON PLASTIC PARTS MANUFACTURED USING FFF TECHNOLOGY Open
The article focuses on the testing of glued joints of plastic parts manufactured by 3D rapid prototyping, using the Fused Filament Fabrication technology. The first part of the article describes the suitability of using a glued joint. Then…
A snake robot for locomotion in a pipe using trapezium-like travelling wave Open
Snake robots are a suitable solution for various types of applications, especially in rough terrain or hardly accessible areas such as, for example, pipes. This article deals with a snake robot moving in a pipe using a so-called trapezium-…
Finding Optimal Manipulator Arm Shapes to Avoid Collisions in a Static Environment Open
In situations of a confined workplace with a lot of obstacles and a complicated required trajectory of the endpoint of an industrial or collaborative robot, it may be impossible to find a suitable robot and its position within the workplac…
A DEPTH IMAGE QUALITY BENCHMARK OF THREE POPULAR LOW-COST DEPTH CAMERAS Open
A depth camera outputs an image in which each pixel depicts the distance between the camera plane and the corresponding point on the image plane.Low-cost depth cameras are becoming commonplace and given their applications in the field of m…