Abstract
Fractional calculus (FC) is being used in several distinct areas of science and engineering, being recognized its ability to yield a superior modelling and control in many dynamical systems. This article illustrates the application of FC in the area of robot control. A Fractional Order PD mu controller is proposed for the control of an hexapod robot with 3 dof legs. It is demonstrated the superior performance of the system by using the FC concepts.

Abstract

Abstract
We developed a method for measuring the fitness of a prosthesis and implants. Since a robot arm is use for executing the impressions and part of the measuring procedure we gain high precision and reproducibility. We tested the measuring method regarding the operator dependence and tests confirm consistent results even with different users.

Abstract

Abstract
In the present industrial manufacturing scenario it is required that work cells would be easier to manipulate. Therefore there is a demand for simple orchestration techniques of different industrial devices, such as vision systems, cameras, sensors, PLCs, pocket-PCs. This paper meets this need by implementing a dynamic graphical user interface (GUI) based on the StateCharts concept. The paper describes the choices made in the construction, namely regarding the handling of hierarchy and discusses their implications in the effectiveness of the GUI. Some tests made with the software that resulted from this paper also show that the introduction of a GUI that represents event-based systems, like StateCharts, could be a precise and simple tool for the construction of complex industrial cells by non-expert users.

Abstract
A maximin multiobjective particle swarm optimization algorithm variant is presented, in the context of parallel robotic manipulator design. The choice of a particular structural configuration and its dimensioning is a central issue to the performance of these manipulators. A solution to the dimensioning problem, normally involves the definition of performance criteria as part of an optimization process. In this paper the kinematic design of a 6-dof parallel robotic manipulator is analyzed. Two dynamic performance criteria are formulated and non-dominated optimal solutions are found through a multi-objective particle swarm optimization algorithm. Preliminary simulation results are presented.