Filip Toth - Academia.edu (original) (raw)
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CSIC (Consejo Superior de Investigaciones Científicas-Spanish National Research Council)
CSIC (Consejo Superior de Investigaciones Científicas-Spanish National Research Council)
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Papers by Filip Toth
2015 20th International Conference on Process Control (PC), 2015
2013 International Conference on Process Control (PC), 2013
Mobile robotic systems are mechatronic device that are currently getting more and more complex. T... more Mobile robotic systems are mechatronic device that are currently getting more and more complex. To design such a system, a combination of expertise from the fields of mechanical, electrical and computer engineering is required. This paper describes our custom omni-directional robotic platform designed for both indoor and outdoor use that contains a lot of prototypic hardware. All designed components are interesting as they allow to control the robot as a complex mechatronic system. The main objective was to use a bigger amount of smaller control subsystems rather than a central one, which is more advantageous form the control point of view. The electronics of the robot consists of microcontroller controlled distributed subsystems that are able to communicate with the master system. The following sections offer an insight into the control structures of the mobile robot.
2013 International Conference on Process Control (PC), 2013
ABSTRACT In the field of robot control and navigation, alternative methods, such as various techn... more ABSTRACT In the field of robot control and navigation, alternative methods, such as various techniques from artificial intelligence are becoming widely adopted in these days. In this paper we present a middle-size omni-directional robotic vehicle with Mecanum wheels and its simulated counterpart trained to move along the walls and avoid obstacles on the basis of learning classifier systems, namely using the accuracy-based classifier system (XCS). The XCS operates in real time and produces highly compact solutions in very short time, therefore we regard it as a good solution for building a control architecture for a mobile robot.
2013 International Conference on Process Control (PC), 2013
This work addresses design and construction issues of a laboratory robotic arm for educational pu... more This work addresses design and construction issues of a laboratory robotic arm for educational purposes. First of all, the robotic arm performance analysis has been accomplished using Matlab / Simulink / SimMechanics. The obtained knowledge has been utilized to develop the suitable algorithms for analyzing the robotic arm kinematics. Once the SimMechanics model is successfully determined, a real-time xPC target system is used in order to connect the real laboratory robotic arm with the corresponding Matlab / Simulink block diagram. It is important to remark that the developed robotic arm is a convenient tool for learning robotics at any favorable technical university laboratory. On the other hand, the manipulator has six degrees of freedom. Three degrees of freedom correspond to the robotic arm and the rest belongs to the gripper. Moreover, the necessary electronic modules have been developed in order to allow a successful standard communication with the available laboratory devices.
2015 20th International Conference on Process Control (PC), 2015
2013 International Conference on Process Control (PC), 2013
Mobile robotic systems are mechatronic device that are currently getting more and more complex. T... more Mobile robotic systems are mechatronic device that are currently getting more and more complex. To design such a system, a combination of expertise from the fields of mechanical, electrical and computer engineering is required. This paper describes our custom omni-directional robotic platform designed for both indoor and outdoor use that contains a lot of prototypic hardware. All designed components are interesting as they allow to control the robot as a complex mechatronic system. The main objective was to use a bigger amount of smaller control subsystems rather than a central one, which is more advantageous form the control point of view. The electronics of the robot consists of microcontroller controlled distributed subsystems that are able to communicate with the master system. The following sections offer an insight into the control structures of the mobile robot.
2013 International Conference on Process Control (PC), 2013
ABSTRACT In the field of robot control and navigation, alternative methods, such as various techn... more ABSTRACT In the field of robot control and navigation, alternative methods, such as various techniques from artificial intelligence are becoming widely adopted in these days. In this paper we present a middle-size omni-directional robotic vehicle with Mecanum wheels and its simulated counterpart trained to move along the walls and avoid obstacles on the basis of learning classifier systems, namely using the accuracy-based classifier system (XCS). The XCS operates in real time and produces highly compact solutions in very short time, therefore we regard it as a good solution for building a control architecture for a mobile robot.
2013 International Conference on Process Control (PC), 2013
This work addresses design and construction issues of a laboratory robotic arm for educational pu... more This work addresses design and construction issues of a laboratory robotic arm for educational purposes. First of all, the robotic arm performance analysis has been accomplished using Matlab / Simulink / SimMechanics. The obtained knowledge has been utilized to develop the suitable algorithms for analyzing the robotic arm kinematics. Once the SimMechanics model is successfully determined, a real-time xPC target system is used in order to connect the real laboratory robotic arm with the corresponding Matlab / Simulink block diagram. It is important to remark that the developed robotic arm is a convenient tool for learning robotics at any favorable technical university laboratory. On the other hand, the manipulator has six degrees of freedom. Three degrees of freedom correspond to the robotic arm and the rest belongs to the gripper. Moreover, the necessary electronic modules have been developed in order to allow a successful standard communication with the available laboratory devices.