Optimal design and application of a low-cost wire-sensor system for the kinematic calibration of industrial manipulators

2014 ◽  
Vol 73 ◽  
pp. 25-48 ◽  
Author(s):  
Giovanni Legnani ◽  
Monica Tiboni
Atmosphere ◽  
2021 ◽  
Vol 12 (5) ◽  
pp. 645
Author(s):  
Kristen Okorn ◽  
Michael Hannigan

As low-cost sensors have become ubiquitous in air quality measurements, there is a need for more efficient calibration and quantification practices. Here, we deploy stationary low-cost monitors in Colorado and Southern California near oil and gas facilities, focusing our analysis on methane and ozone concentration measurement using metal oxide sensors. In comparing different sensor signal normalization techniques, we propose a z-scoring standardization approach to normalize all sensor signals, making our calibration results more easily transferable among sensor packages. We also attempt several different physical co-location schemes, and explore several calibration models in which only one sensor system needs to be co-located with a reference instrument, and can be used to calibrate the rest of the fleet of sensor systems. This approach greatly reduces the time and effort involved in field normalization without compromising goodness of fit of the calibration model to a significant extent. We also explore other factors affecting the performance of the sensor system quantification method, including the use of different reference instruments, duration of co-location, time averaging, transferability between different physical environments, and the age of metal oxide sensors. Our focus on methane and stationary monitors, in addition to the z-scoring standardization approach, has broad applications in low-cost sensor calibration and utility.


2009 ◽  
Vol 147-149 ◽  
pp. 1-6 ◽  
Author(s):  
Rafal Osypiuk ◽  
Torsten Kröger

This contribution presents a new force control concept for industrial six-degree of freedom (DOF) manipulators, which uses a Hexa platform that provides an active environmental stiffness for all six DOFs. The paper focuses on the Hexa platform and is split into two essential parts: (i) parallel platform construction, and (ii) application of force control with industrial manipulators using a six-DOF environmental stiffness. This mechatronic solution almost gives one hundred percent robustness for stiffness changes in the environment, what guaranties a significant shortening of execution time.


Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Shengjie Wang ◽  
Kun Wang ◽  
Chunsong Zhang ◽  
Jian S Dai

Abstract A kinetostatic approach applied to the design of a backflip strategy for quadruped robots is proposed in this paper. Inspired by legged animals and taking the advantage of the leg workspace, this strategy provides an optimal design idea for the low-cost quadruped robots to achieve self-recovery after overturning. Through kinetostatic and energy analysis, a four-stepped backflip strategy based on the selected rotation axis with minimum energy is proposed, with a process of selection, lifting, rotating, and protection. The kinematic factors that affect the backflip are investigated, along with the relationship between the design parameters of the leg and trunk being analyzed. At the end of this paper, the strategy is validated by a simulation and experiments with a prototype called DRbot, demonstrating that the strategy endows the robot a strong self-recovery ability in various terrains.


1992 ◽  
Vol 25 (25) ◽  
pp. 7-12
Author(s):  
H.P. Jörgl ◽  
G. Höld

2018 ◽  
Vol 43 ◽  
pp. 82-89 ◽  
Author(s):  
Arnaldo G. Leal-Junior ◽  
Laura Vargas-Valencia ◽  
Wilian M. dos Santos ◽  
Felipe B.A. Schneider ◽  
Adriano A.G. Siqueira ◽  
...  

2020 ◽  
Vol 168 ◽  
pp. 111276
Author(s):  
Long Li ◽  
Yankun Peng ◽  
Yongyu Li ◽  
Cheng Yang ◽  
Kuanglin Chao

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