Kanstantsin Miatliuk

External inertial sensing enables controller-independent monitoring of collaborative robots. Robust evaluation should distinguish classifier discrimination from temporal post-processing and explicitly control temporal leakage, sensor–label misalignment, and installation-sensitive sensing shortcuts. This study investigates the UR3e/Nicla Sense ME record using complete-event chronological separation, transition masking, training-only transformations, same-split sensor-channel ablation, raw per-window Random-Forest (RF) scores, and validation-selected H-of-K persistence. Two velocity-anomaly episodes are excluded from all model, threshold, channel, and persistence selection. The same-split ablation selects a gyroscope-only 31-feature RF representation. Before persistence, the held-out RF yields TN = 153, FP = 231, FN = 0, and TP = 384 (MCC = 0.4988), showing high anomaly recall but poor nominal specificity. Validation selects a 5-of-5 persistence rule, yielding TN = 382, FP = 2, FN = 8, and TP = 376, with accuracy = 0.9870, precision = 0.9947, recall = 0.9792, F1-score = 0.9869, and MCC = 0.9741. Both held-out anomaly episodes are detected with an approximately 40 s confirmation delay after the first eligible positive window. The 21-of-21 rule is retained as a consistency reference and reproduces TN = 384, FP = 0, FN = 40, and TP = 344, with approximately 200 s confirmation delay. Guard-band, persistence, sensor-channel, rolling-origin, protocol-component ablation, and same-split comparator analyses show that performance depends on the evaluation protocol and held-out event. The evidence supports bounded later-event recognition within the same robot and acquisition domain; future studies should establish the long-term false-alarm rate and test cross-platform generalization.

The article presents the results of a manipulability analysis and optimal remote center of motion (RCM) frame placement based on the manipulability index for a simplified model of a planar laparoscopic surgical robot system with a control-based RCM constraint. The paper presents an analytical kinematic model of the planar laparoscopic surgical robot system, a method for computing a manipulability objective taking into account the RCM constraint, and a formulation of the optimization problem used to establish the optimal placement of the system with respect to the task. The presented results are backed by a sensitivity analysis measuring the influence of parameter uncertainty on the value of the objective.

The use of Hierarchical Systems (HS) technology in the conceptual design of the RWC (Robotic Work Cell) is proposed in the work. In comparison with other widespread approaches, the conceptual model of the RWC constructed in the HS formal basis contains connected models of RWC subsystems, their processes, the RWC structure, its dynamic presentation as the unit in its environment, and the RWC coordinator. The design and control system of RWC is presented in the form of an HS coordinator. For the detailed design of the selected RWC, the Visual Components system was applied in the work. First, the conceptual model of the RWC is presented in the paper. The application of the Visual Components program system for the detailed design of the RWC is described after that. Third, the laboratory experiment with the KUKA KR16-2 F robot is briefly considered. The originality of the proposed work lies in the application of the novel HS technology in the creation of the conceptual model and design of the selected RWC. The model developed at the conceptual design phase is coordinated with the model created at the detailed design phase within the framework of the Visual Components system. The effectiveness of the proposed HS approach in comparison with other known design, AI, and mathematical methods lies in the possibility of solving RWC synthesis and analysis design problems within the framework of one common formal HS model using an HS coordinator that connects the structure of the system being designed with its function, predicting, in this way, the system’s dynamics in its environment, and performing RWC control. The reliability of the model proposed was verified while performing the design and control tasks of the presented RWC and various other mechatronic objects. The results and conclusive remarks are finally presented in the paper.

The use of Hierarchical Systems (HS) technology in conceptual design of RWC (Robotic Work Cell – RWC) is proposed in the work. In comparison with other widespread approaches, conceptual model of the RWC constructed in HS formal basis contains connected models of RWC subsystems, RWC structure, its dynamic presentation as the unit in its environment and RWC. The design and control system of RWC is presented in the form of HS coordinator. For the detailed design of the selected RWS Visual Components system was applied in the work. First, the conceptual model of the RWS is presented in the paper. The application of the Visual Components program system for the detailed design of the RWC is described after that. Third, the laboratory experiment with KUKA KR16-2 F robot is briefly considered. The results and conclusive remarks are finally presented in the paper.

Safety in industrial robotic environments is a hot research topic in the area of human-robot interaction (HRI). Up to now, a robotic arm on an assembly line interacts with other machines away from human workers. Nowadays, robotic arm manufactures are aimed to their robots could increasingly perform tasks collaborating with humans. One of the ways to improve this collaboration is by making the movement of robots more humanlike. This way, it would be easier for a human to foresee the movement of the robot and approach it without fear of contact. The main difference between the movement of a human and of a robotic arm is that the former has a bell-shaped speed profile while the latter has a uniform speed one. To generate this speed profile, the kinematic theory of rapid human movements and its Sigma-Lognormal model has been used. This model is widely used to explain most of the basic phenomena related to the control of human movements. Both human-like and robotic-like movements are transferred to the UR3 robot. In this paper we detail the how the UR3 robot was programmed to produce both kinds of movement. The dissimilarities result between the input motion and output motion to the robot confirm the possibility to develop human-like velocities in the UR3 robot.

This paper presents the concept of a parallel medical robotic service system to assist in a surgical procedure involving precise exploratory trepanation holes in a patient’s skull. The target position and orientation of the trepanation tool in the cranial region is determined using a prior intracranial image analysis using an external medical imaging system. A trepanning actuation system is attached to the end-effector of the parallel robot. The end-effector will act as an accurate positioner for the trepanning drill in the medical intervention area. The conceptual design of the mechanical actuation subsystem of a trepanning robot was developed in the SolidWorks 2022 software environment. The virtual model of the kinematic chain of the robot and the assumed design parameters were used to analytically derive the equations describing the inverse kinematics task. An analysis of the forward kinematics task of the parallel manipulator was also carried out using analytical and numerical methods. A workspace analysis was performed using Matlab based on the kinematic model of the parallel robot. This paper significantly advances the field by presenting the conceptual design of the actuation subsystem, deriving the kinematics equations, conducting a thorough workspace analysis, and establishing a foundation for subsequent control-algorithm development.

Collaborative robots or cobots interact with humans in a common work environment. In cobots, one under-investigated but important issue is related to their movement and how it is perceived by humans. This paper tries to analyze whether humans prefer a robot moving in a human or in a robotic fashion. To this end, the present work lays out what differentiates the movement performed by an industrial robotic arm from that performed by a human one. The main difference lies in the fact that the robotic movement has a trapezoidal speed profile, while for the human arm, the speed profile is bell-shaped and during complex movements, it can be considered as a sum of superimposed bell-shaped movements. Based on the lognormality principle, a procedure was developed for a robotic arm to perform human-like movements. Both speed profiles were implemented in two industrial robots, namely, an ABB IRB 120 and a Universal Robot UR3. Three tests were used to study the subjects’ preference when seeing both movements and another analyzed the same when interacting with the robot by touching its ends with their fingers.

A method for determining the optimal position of a robotic task within a manipulator’s workspace considering the minimum singularity free paths in joint space in order to achieve a high kinematic performance is presented. The selected performance criterion was the minimization of the joint velocities during task execution under a given end effector velocity. The proposed method is applied to place kinematic tasks for a UR-5 manipulator. Joint speed measurements are compared for the optimal and the “bad” task positions and the results show that at the optimal position, lower joint speeds are exerted during task execution.

The determination of the optimal position of a robotic task within a manipulator’s workspace is crucial for the manipulator to achieve high performance regarding selected aspects of its operation. In this paper, a method for determining the optimal task placement for a serial manipulator is presented, so that the required joint torques are minimized. The task considered comprises the exercise of a given force in a given direction along a 3D path followed by the end effector. Given that many such tasks are usually conducted by human workers and as such the utilized trajectories are quite complex to model, a Human Robot Interaction (HRI) approach was chosen to define the task, where the robot is taught the task trajectory by a human operator. Furthermore, the presented method considers the singular free paths of the manipulator’s end-effector motion in the configuration space. Simulation results are utilized to set up a physical execution of the task in the optimal derived position within a UR-3 manipulator’s workspace. For reference the task is also placed at an arbitrary “bad” location in order to validate the simulation results. Experimental results verify that the positioning of the task at the optimal location derived by the presented method allows for the task execution with minimum joint torques as opposed to the arbitrary position.