scholarly journals Guidance for Autonomous Aerial Manipulator Using Stereo Vision

2019 ◽  
Vol 100 (3-4) ◽  
pp. 1545-1557 ◽  
Author(s):  
Christoforos Kanellakis ◽  
George Nikolakopoulos
Keyword(s):  
Target Location ◽  
End Effector ◽  
Robotic Arms ◽  
New Era ◽  
Autonomous Guidance ◽  
Aerial Manipulator ◽  
Inspection And Maintenance ◽  
Infrastructure Inspection ◽  
System 1 ◽  
Multiple Scenarios

AbstractCombining the agility of Micro Aerial Vehicles (MAV) with the dexterity of robotic arms leads to a new era of Aerial Robotic Workers (ARW) targeting infrastructure inspection and maintenance tasks. Towards this vision, this work focuses on the autonomous guidance of the aerial end-effector to either reach or keep desired distance from areas/objects of interest. The proposed system: 1) is structured around a real-time object tracker, 2) employs stereo depth perception to extract the target location within the surrounding scene, and finally 3) generates feasible poses for both the arm and the MAV relative to the target. The performance of the proposed scheme is experimentally demonstrated in multiple scenarios of increasing complexity.

On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace

Robotica ◽  
2002 ◽  
Vol 20 (6) ◽  
pp. 625-636 ◽  
Author(s):  
Jin-Liang Chen ◽  
Jing-Sin Liu ◽  
Wan-Chi Lee ◽  
Tzu-Chen Liang
Keyword(s):  
Null Space ◽  
Large Degree ◽  
Redundancy Resolution ◽  
Secondary Tasks ◽  
End Effector ◽  
Robotic Arms ◽  
Tracking Motion ◽  
On Line ◽  
Joint Limits ◽  
Joint Velocity

The manipulator with a large degree of redundancy is useful for realizing multiple tasks such as maneuvering the robotic arms in the constrained workspace, e.g. the task of maneuvering the end-effector of the manipulator along a pre-specified path into a window. This paper presents an on-line technique based on a posture generation rule to compute a null-space joint velocity vector in a singularity-robust redundancy resolution method. This rule suggests that the end of each link has to track an implicit trajectory that is indirectly resulted from the constraint imposed on tracking motion of the end-effector. A proper posture can be determined by sequentially optimizing an objective function integrating multiple criteria of the orientation of each link from the end-effector toward the base link as the secondary task for redundancy resolution, by assuming one end of the link is clamped. The criteria flexibly incorporate obstacle avoidance, joint limits, preference of posture in tracking, and connection of posture to realize a compromise between the primary and secondary tasks. Furthermore, computational demanding of the posture is reduced due to the sequential link-by-link computation feature. Simulations show the effectiveness and flexibility of the proposed method in generating proper postures for the collision avoidance and the joint limits as a singularity-robust null-space projection vector in maneuvering redundant robots within constrained workspaces.

Determination of Trackball and End Effector Diameters in Laparoscopic Tools

2005 ◽  
Vol 49 (18) ◽  
pp. 1710-1713
Author(s):  
A.E. Trejo ◽  
M.-C. Jung ◽  
M.S. Hallbeck
Keyword(s):  
Target Location ◽  
Target Position ◽  
Initial Position ◽  
End Effector ◽  
Independent Variables ◽  
Straight Line ◽  
Left And Right ◽  
Time Accuracy ◽  
Laparoscopic Tools

As part of a continuous effort of reaching the optimal use of the intuitool, a study was conducted to identify the optimal diameter combination between the trackball and the end effector ball. The task was to simulate the end effector movement during an operation, using different diameter combinations. Twenty students performed the trackball-controlling tasks to move the end effector from an initial position to designated circular-shaped targets. The trackball diameters were 19 mm and 40 mm, and those of the end effector balls were 3 mm, 5 mm, and 10 mm. There were four targets: right, left, up, and down. Travel time, accuracy, and trail deviation were measured as independent variables. Accuracy was not a significant factor showing that all participants followed instructions to reach each target as accurately as possible. The time to reach the target depended both on target location and trackball to end effector ratio individually and in their interaction. It was quickest to get to the upper target compared to all other locations. Trial deviation depended only on the target position and the target location and ratio interaction. The performance of going in a straight line was best for the left and right directions as opposed to up and down using the trackball.

scholarly journals Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

2021 ◽  
Vol 3 (1) ◽  
pp. 27-35
Author(s):  
Akhmad Fahruzi ◽  
Bimo Satyo Agomo ◽  
Yulianto Agung Prabowo
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Robot Arm ◽  
Fixed Position ◽  
End Effector ◽  
Robotic Arms ◽  
Work Area ◽  
Intended Object ◽  
Place Of Origin ◽  
Prototype Design

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.

Improving the Positional Accuracy of the Goniometer on the Philips CM200 TEM.

1999 ◽  
Vol 5 (S2) ◽  
pp. 348-349
Author(s):  
J. Pulokas ◽  
C. Green ◽  
N. Kisseberth ◽  
C.S. Potter ◽  
B. Carragher
Keyword(s):  
Low Dose ◽  
Target Location ◽  
Ccd Camera ◽  
Target Area ◽  
Positional Accuracy ◽  
Transmission Electron ◽  
Large Numbers ◽  
Automated Data Acquisition ◽  
System 1 ◽  
Target Locations

We have developed a system (1) for automatically acquiring large numbers of high quality transmission electron micrographs under low dose conditions. This system has been implemented on a Philips CM200 Transmission Electron Microscope equipped with a Gatan MSC CCD camera. Implementing the automated data acquisition system requires that target locations be identified in a low magnification image and then accurately located at the center of the viewing area. The magnification is subsequently increased, the image is focused on an area adjacent to the target area and the final image is acquired. Centering an identified target location for subsequent high magnification imaging typically requires moving the specimen by many thousands of nm and accurately locating the target to within a few hundred nm. This movement is too large to be achieved using the image shift coils, which would be very accurate, and instead must be achieved using the goniometer.We have measured the accuracy of the goniometer on the Philips CM200 and the results are shown in fig 1. Data were obtained by selecting a target area from a low magnification image [660x], moving to this target and then measuring the accuracy of the requested movement by cross correlation.

scholarly journals Underwater Pipe and Valve 3D Recognition Using Deep Learning Segmentation

2020 ◽  
Vol 9 (1) ◽  
pp. 5
Author(s):  
Miguel Martin-Abadal ◽  
Manuel Piñar-Molina ◽  
Antoni Martorell-Torres ◽  
Gabriel Oliver-Codina ◽  
Yolanda Gonzalez-Cid
Keyword(s):  
Point Cloud ◽  
Autonomous Underwater Vehicles ◽  
Training Set ◽  
Test Set ◽  
The Past ◽  
Network Training ◽  
Close Range ◽  
Inspection And Maintenance ◽  
Infrastructure Inspection ◽  
Selection Of

During the past few decades, the need to intervene in underwater scenarios has grown due to the increasing necessity to perform tasks like underwater infrastructure inspection and maintenance or archaeology and geology exploration. In the last few years, the usage of Autonomous Underwater Vehicles (AUVs) has eased the workload and risks of such interventions. To automate these tasks, the AUVs have to gather the information of their surroundings, interpret it and make decisions based on it. The two main perception modalities used at close range are laser and video. In this paper, we propose the usage of a deep neural network to recognise pipes and valves in multiple underwater scenarios, using 3D RGB point cloud information provided by a stereo camera. We generate a diverse and rich dataset for the network training and testing, assessing the effect of a broad selection of hyperparameters and values. Results show F1-scores of up to 97.2% for a test set containing images with similar characteristics to the training set and up to 89.3% for a secondary test set containing images taken at different environments and with distinct characteristics from the training set. This work demonstrates the validity and robust training of the PointNet neural in underwater scenarios and its applicability for AUV intervention tasks.

Object Manipulation Using Kinect as the 3D Sensor

2013 ◽  
Vol 432 ◽  
pp. 437-441
Author(s):  
Dong Whan Kim ◽  
Jong Eun Ha
Keyword(s):  
Inverse Kinematics ◽  
Target Location ◽  
Vertical Plane ◽  
Object Manipulation ◽  
Robot Motion ◽  
Laser Range Finder ◽  
End Effector ◽  
Laser Range ◽  
3D Data ◽  
Feedback Style

ndustrial robot can extend its capability adopting sensors such as camera and laser range finder. In this paper, we deal with object manipulation including grasping objects on the table and inserting them into the hole on the vertical plane. Kinect is used as the 3D sensor. First, object location and target location is computed after processing 3D data. Robot motion obtained by solving inverse kinematics can have errors so that we adopt visual feedback style approach. Chessboard type marker is attached on the end-effector of the robot and its location with respect to the target is used to correct the robot motion.

scholarly journals A discrete path/trajectory planner for robotic arms

1989 ◽  
Vol 31 (1) ◽  
pp. 1-28 ◽  
Author(s):  
H. H. Tan ◽  
R. B. Potts
Keyword(s):  
Degrees Of Freedom ◽  
Minimum Cost ◽  
Challenging Problem ◽  
Final State ◽  
End Effector ◽  
Joint Torques ◽  
Robotic Arms ◽  
Joint Coordinates ◽  
Simulation Results

AbstractAn interesting and challenging problem in robotics is the off-line determination of the minimum cost path along which an end effector should move from a given initial to a given final state. This paper presents a discrete minimum cost path/trajectory planner which provides a general solution and allows for a range of constraints such as bounds on joint coordinates, joint velocities, joint torques and joint jerks. To demonstrate the practicability and feasibility of the planner, simulation results are presented for the Stanford manipulator using three and then the full six of its degrees of freedom. Simulation runs with two-link planar arms are also presented to enable a comparison with previously published results.

Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms

2016 ◽  
Vol 138 (8) ◽  
Author(s):  
Shengnan Lu ◽  
Zeshan Ahmad ◽  
Matteo Zoppi ◽  
Xilun Ding ◽  
Dimiter Zlatanov ◽  
...  
Keyword(s):  
Heavy Metal ◽  
Industrial Robot ◽  
End Effector ◽  
Revolute Joint ◽  
Robotic Arms ◽  
Supporting Structure ◽  
Wide Range ◽  
Assembly Operations ◽  
Design And Testing ◽  
Reconfigurable Structure

The paper describes an innovative fixture created within the AUTORECON project of the European Commission's 7th Framework Program. The fixture is designed to respond to the automotive industry's needs of high modularity and full flexibility, by allowing the secure multishape grasping of a very wide range of (often large and heavy) metal workpieces typical for car-assembly operations. The fixture is used as an end-effector of an industrial robot, which in turn acts in cooperation with other machines, such as other robots performing machining or other processes on the part. The fixturing device is both a highly reconfigurable structure and a robotic mechanism: moving as a programmable robot to reconfigure and acting as a supporting structure once a hold on the part has been established. This dual functioning has been made possible by the development of a key component, a stepless lockable revolute joint, described herein. In order to get a readily modifiable system, all parts of the fixture are designed as modules. Prototypes of the main parts and the whole fixture have been fabricated and experiments validating the design are reported.

scholarly journals Toward mission-dependent long robotic arm enhancement: design method of flying watch attachment allocation based on thrust drivability

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Siyi Pan ◽  
Gen Endo
Keyword(s):  
Design Method ◽  
Automated Design ◽  
Human Experience ◽  
Robotic Arm ◽  
End Effector ◽  
Robotic Arms ◽  
Performance Metric ◽  
Compensation Mechanisms ◽  
Reaction Forces ◽  
External Forces

AbstractLong robotic arms are useful for many applications such as nuclear plant decommissioning, inspection, and firefighting. A major problem for designing and operating long robotic arms is that even small end effector reaction forces and arm gravity can result in large loads on proximal arm joints because of long moment arms. To solve that problem, previous researches focus on specifically designed long arms with certain compensation mechanisms. However, those specialized arm designs are difficult to be applied to existing long robotic arms and to be customized for different missions. To overcome those two drawbacks, we recently proposed a watch-like thrust-generating modular device, called flying watch, with the following two major advantages. Firstly, flying watch can be attached to different kinds of existing long robotic arms and generate thrusts to enhance arm strength. And we have proposed a thrust planning method for flying watch in our previous work. Secondly, since different flying watch attachment allocations can enhance the same robotic arm in different ways, flying watch attachment allocations can be customized to meet the needs of a specific mission. However, up to now, customizing flying watch attachment allocations to different missions is still based on human experience and there is no clear performance metric and automated design method for flying watch attachment allocation. To facilitate mission-dependent long arm enhancement, in this paper, we first propose a novel performance metric, called thrust drivability, which measures the ability of a flying watch attachment allocation to counteract unexpected end effector reaction forces. Then based on thrust drivability, we propose an automated design method, called Allocation Optimization based on Weighted Situations (AOWS), for generating mission-dependent flying watch attachment allocations counteracting both unexpected and known external forces. Simulations show that AOWS based allocation designs can counteract both known and unexpected external forces much better than human-experience-based allocation designs.

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