A sealing robot system with visual seam tracking

Robotica ◽  
1984 ◽  
Vol 2 (1) ◽  
pp. 41-46 ◽  
Author(s):  
Susumu Sawano ◽  
Junichi Ikeda ◽  
Noriyuki Utsumi ◽  
Yukio Ohtani ◽  
Akira Kikuchi ◽  
...  
Keyword(s):  
Solid State ◽  
Degrees Of Freedom ◽  
Seam Tracking ◽  
Robot Hand ◽  
Robot Arm ◽  
Test Results ◽  
Robot System ◽  
Car Body ◽  
Flexible Mechanism

SUMMARYA new robot system has been introduced which was designed to seal the seams of car body panels. The system has nine degrees of freedom, and includes the following features: (1) A seam tracking servo using a solid-state TV camera is mounted at the robot hand to compensate for the seam deviations. (2) The robot arm is equipped with a flexible mechanism at the wrist to provide a wide working range for the seal nozzle. (3) A two axis orthogonal robot carrier is provided to make the robot follow the work on an indexed conveyor during the sealing operation. This paper deals with the structure and operation of the system and presents test results obtained on a sealing line.

Time-Optimal Control of Two Robots Holding the Same Workpiece

1993 ◽  
Vol 115 (3) ◽  
pp. 441-446 ◽  
Author(s):  
J. E. Bobrow ◽  
J. M. McCarthy ◽  
V. K. Chu
Keyword(s):  
Optimal Control ◽  
Contact Force ◽  
Degrees Of Freedom ◽  
Unique Feature ◽  
Robot Arm ◽  
Robot System ◽  
Motion Constraints ◽  
Time Optimal ◽  
Internal Forces ◽  
Constrained Robot

An algorithm is given which minimizes the time for two robots holding the same workpiece to move along a given path. The unique feature of these systems is that they have more actuators than degrees of freedom. The method can be applied to any constrained robot system, including the case where one robot arm moves in contact with a surface. In addition to finding the optimum torque histories, the algorithm determines the optimum contact force between the each robot and the workpiece throughout the motion. Constraints on these internal forces are easily introduced into the algorithm.

scholarly journals Development of a Robotic Arm for Automated Harvesting of Asparagus

2020 ◽  
Vol 2 (1) ◽  
Author(s):  
Yuki Funami ◽  
Shinji Kawakura ◽  
Kotaro Tadano
Keyword(s):  
Input Data ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Pneumatic Cylinder ◽  
Agricultural Crops ◽  
Robot Arm ◽  
Linkage Mechanism ◽  
Robot System ◽  
Wheeled Robot ◽  
Agricultural Setting

We designed and developed an original arm-robot system that harvests asparagus in both outdoor and indoor agricultural fields. Using the system, we carried out harvesting work automatically with input data related to asparagus vegetation in restricted settings. The developed fixed-site (non-wheeled) robot can reach out its arm to a stem of asparagus from a passage between two ridges on cultivated farmland without touching non-target stems or requiring changes to the farm conditions. Additionally, the hand at the tip of the arm stably grasps, cuts, harvests, and throws the stem it into a specific bag made for the gathering of agricultural crops. In mechanical terms, our originally developed robot arm has four degrees of freedom and is driven by motors. It harvests target asparagus stems without coming into contact with other objects in an agricultural setting, and the hand using the linkage mechanism of a pneumatic cylinder driven by air pressure, can hold the stem firmly and cut it. Our repetitive verification experiments showed that the mechanism is sufficiently accurate. The present study confirmed the robot arm system could be used for automatically harvesting asparagus, and the system was endorsed by several farmers. Moreover, we carried out experiments of harvesting asparagus on actual outdoor land and successfully harvested three stems sequentially under the condition that the operator obtained the positional coordinates earlier.

SOLVING THE INVERSE KINEMATICAL PROBLEM OF A ROBOT ARM BY USING GROEBNER BASIS

2021 ◽  
Vol 13 (1) ◽  
pp. 15
Author(s):  
Alisya Masturoh ◽  
Bambang Hendriya Guswanto ◽  
Triyani Triyani
Keyword(s):  
Robot Hand ◽  
Polynomial Equations ◽  
Robot Arm ◽  
Groebner Basis

The inverse kinematical problem of a robot arm is a problem to find some appropriate joint configurations for a pair of position and direction of a robot hand which is represented by a polynomial equations system. The system is solved by employing Groebner basis notion. Thus, the appropriate joint configurations for a pair of position and direction of the robot hand are obtained.

Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators

2020 ◽  
Author(s):  
Michael John Chua ◽  
Yen-Chen Liu
Keyword(s):  
Degrees Of Freedom ◽  
Null Space ◽  
Kinematic Model ◽  
Mobile Manipulator ◽  
Main Task ◽  
Mobile Manipulators ◽  
Robot Arm ◽  
Task Space ◽  
End Effector ◽  
Mobile Base

Abstract This paper presents cooperation and null-space control for networked mobile manipulators with high degrees of freedom (DOFs). First, kinematic model and Euler-Lagrange dynamic model of the mobile manipulator, which has an articulated robot arm mounted on a mobile base with omni-directional wheels, have been presented. Then, the dynamic decoupling has been considered so that the task-space and the null-space can be controlled separately to accomplish different missions. The motion of the end-effector is controlled in the task-space, and the force control is implemented to make sure the cooperation of the mobile manipulators, as well as the transportation tasks. Also, the null-space control for the manipulator has been combined into the decoupling control. For the mobile base, it is controlled in the null-space to track the velocity of the end-effector, avoid other agents, avoid the obstacles, and move in a defined range based on the length of the manipulator without affecting the main task. Numerical simulations have been addressed to demonstrate the proposed methods.

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

Analytical Model for Rockfall Protection Galleries - a Blind Prediction of Test Results and Conclusion

2011 ◽  
Vol 82 ◽  
pp. 722-727 ◽  
Author(s):  
Kristian Schellenberg ◽  
Norimitsu Kishi ◽  
Hisashi Kon-No
Keyword(s):  
Degrees Of Freedom ◽  
Large Scale ◽  
Test Results ◽  
Blind Prediction ◽  
Proposed Model ◽  
Input Parameters ◽  
Scale Test ◽  
Definition Of ◽  
Protective Structures ◽  
Cushion Layer

A system of multiple degrees of freedom composed out of three masses and three springs has been presented in 2008 for analyzing rockfall impacts on protective structures covered by a cushion layer. The model has then been used for a blind prediction of a large-scale test carried out in Sapporo, Japan, in November 2009. The test results showed substantial deviations from the blind predictions, which led to a deeper evaluation of the model input parameters showing a significant influence of the modeling properties for the cushion layer on the overall results. The cushion properties include also assumptions for the loading geometry and the definition of the parameters can be challenging. This paper introduces the test setup and the selected parameters in the proposed model for the blind prediction. After comparison with the test results, adjustments in the input parameters in order to match the test results have been evaluated. Conclusions for the application of the model as well as for further model improvements are drawn.

Research on Network Communication Model of Intelligent Ship Handling Simulator

2011 ◽  
Vol 97-98 ◽  
pp. 787-793 ◽  
Author(s):  
Shen Hua Yang ◽  
Guo Quan Chen ◽  
Xing Hua Wang ◽  
Yue Bin Yang
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Communication Process ◽  
Network Communication ◽  
Communication Model ◽  
Test Results ◽  
Six Degrees Of Freedom ◽  
Model Based ◽  
Hydraulic Servo ◽  
Ship Handling

Due to the target ship in the traditional ship handling simulator have not the ability to give way to other ships automatically to avoid collision, this paper put forward a new idea that bringing the hydraulic servo platform, six degrees of freedom ship mathematical model, the actual traffic flow, researching achievement of automatic anti-collision in research of the new pattern ship handling simulator, and successfully develop the Intelligent Ship Handling Simulator(ISHS for short). The paper focuse on the research on the network communication model of ISHS. We took the entire simulator system as three relatively independent networks, proposed a framework of communication network that combined IOCP model based on TCP with blocking model based on UDP, and gave the communication process and protocols of system. Test results indicate that this is an effective way to improve the ownship capacity of ship handling simulator and meet the need of multi-ownship configuration of desktop system of ship handling simulator.

scholarly journals Detachable Robotic Grippers for Human-Robot Collaboration

2021 ◽  
Vol 8 ◽  
Author(s):  
Zubair Iqbal ◽  
Maria Pozzi ◽  
Domenico Prattichizzo ◽  
Gionata Salvietti
Keyword(s):  
Degrees Of Freedom ◽  
Tactile Feedback ◽  
Industrial Robots ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Hands ◽  
End Effector ◽  
External Power ◽  
Self Powered ◽  
Automatic Tool

Collaborative robots promise to add flexibility to production cells thanks to the fact that they can work not only close to humans but also with humans. The possibility of a direct physical interaction between humans and robots allows to perform operations that were inconceivable with industrial robots. Collaborative soft grippers have been recently introduced to extend this possibility beyond the robot end-effector, making humans able to directly act on robotic hands. In this work, we propose to exploit collaborative grippers in a novel paradigm in which these devices can be easily attached and detached from the robot arm and used also independently from it. This is possible only with self-powered hands, that are still quite uncommon in the market. In the presented paradigm not only hands can be attached/detached to/from the robot end-effector as if they were simple tools, but they can also remain active and fully functional after detachment. This ensures all the advantages brought in by tool changers, that allow for quick and possibly automatic tool exchange at the robot end-effector, but also gives the possibility of using the hand capabilities and degrees of freedom without the need of an arm or of external power supplies. In this paper, the concept of detachable robotic grippers is introduced and demonstrated through two illustrative tasks conducted with a new tool changer designed for collaborative grippers. The novel tool changer embeds electromagnets that are used to add safety during attach/detach operations. The activation of the electromagnets is controlled through a wearable interface capable of providing tactile feedback. The usability of the system is confirmed by the evaluations of 12 users.

scholarly journals Object-Moving Robot Arm based on Color

2019 ◽  
Vol 1 (3) ◽  
pp. 13-19
Author(s):  
Areepen Sengsalong ◽  
Nuryono Satya Widodo
Keyword(s):  
Moving Objects ◽  
Robot Arm ◽  
Test Results ◽  
System Testing ◽  
Green Is

The aim of this research is to make a robot arm moving objects based on color using 2 servo motors and 6 light photodiode sensors integrated with the Arduino Mega 2560 microcontroller.  The light photodiode sensor is used to detect red, green and blue colors. This system is equipped with an LCD to display the output of the Arduino Mega 2560 which is a notice of the color detected. The process of moving objects based on color is simulated using 3 colored objects namely red, green, and blue. The robot arm gripper will move to pick and move objects based on color, when the light photodiode sensor detects a color input.  Based on system testing, overall the robot arm is functioning properly, i.e. it shows that the robot arm is able to move objects automatically with large test results obtained by 0 °, 40 °, 60 °, 90 °, and 120 °. Whereas for sensor testing the value of red is 400, the value of green is 150, and the value of blue is 600.

A remote center of motion robotic arm for computer assisted surgery

Robotica ◽  
1996 ◽  
Vol 14 (1) ◽  
pp. 103-109 ◽  
Author(s):  
B. Eldridge ◽  
K. Gruben ◽  
D. LaRose ◽  
J. Funda ◽  
S. Gomory ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Computer Assisted Surgery ◽  
Video Camera ◽  
Robotic Arm ◽  
Computer Assisted ◽  
Robot Arm ◽  
Minimally Invasive Surgical ◽  
Tissue Manipulation ◽  
Servo Controller ◽  
Rotation Stage

SummaryWe have designed a robotic arm based on a double parallel four bar linkage to act as an assistant in minimally invasive surgical procedures. The remote center of motion (RCM) geometry of the robot arm kinematically constraints the robot motion such that minimal translation of an instrument held by the robot takes place at the entry portal into the patientApos;s body. In addition to the two rotational degrees of freedom comprising the RCM arm, distal translation and rotation are provided to manoeuver the instrument within the patient's body about an axis coincident with the RCM. An XYZ translation stage located proximal to the RCM arm provides positioning capability to establish the RCM location relative to the patients anatomy. An electronics set capable of controlling the system, as well as performing a series of safety checks to verify correct system operation, has also been designed and constructed. The robot is capable of precise positional motion. Repeatability in the ±10 micron range is demonstrated. The complete robotic system consists of the robot hardware and an IBM PC-AT based servo controller connected via a custom shared memory link to a host IBM PS/2. For laparoscopic applications, the PS/2 includes an image capture board to capture and process video camera images. A camera rotation stage has also been designed for this application. We have successfully demonstrated this system as an assistant in a laparoscopic cholecystectomy. Further applications for this system involving active tissue manipulation are under development.

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