scholarly journals Doublel-robot coordination workspace Analysis based on Matlab

2018 ◽  
Vol 232 ◽  
pp. 03057
Author(s):  
Wei Wang ◽  
Yong Xu
Keyword(s):  
Boundary Surface ◽  
Value Theory ◽  
Working Space ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Solution Equation ◽  
Space Boundary ◽  
Robot Cooperation ◽  
Limit Position ◽  
Cooperation System

Aiming at the requirements of dual robot collaborative operation, a dual robot cooperation system model is established in SolidWorks2012 software to study the dual robot cooperation space. The D-H parameters are established, and the kinematics positive solution equation is obtained. The dual robot cooperative kinematics model is given. Based on the Monte Carlo method, the workspace of the dual robot is solved. The extreme value theory method is used to analyze and calculate, so as to extract the precise boundary contour of the common area of the dual robot workspace, and the collaborative space boundary surface and limit position of the dual robot are determined. The optimal coordinated working space of the dual robot end effector is obtained, which lays a theoretical foundation for the coordinated trajectory planning of the dual robot.

A Novel Perspective in the Design of Cable-Driven Systems

2008 ◽  
Author(s):  
Giulio Rosati ◽  
Damiano Zanotto
Keyword(s):  
Systems Design ◽  
The Novel ◽  
End Effector ◽  
New Approach ◽  
Driven Systems ◽  
Working Space ◽  
Novel Approach ◽  
Workspace Analysis ◽  
Workspace Optimization ◽  
Novel Design

This paper deals with a novel approach to the design of cable-driven systems. This kind of robots possesses several desirable features that distinguish them from common manipulators, such as: low-inertia, cost-effectiveness, safety, easy reconfiguration and transportability. One key-issue that arises from the unilateral actuation is the design for workspace optimization. Most previous researches on cable-driven systems design focused their attention on workspace analysis for existing devices. Conversely, we introduce a new approach for improving workspace by design, introducing movable pulley-blocks rather than increasing the number of cables. By properly moving the pulley-blocks, the end-effector can be always maintained in the best part of the working space, thus enhancing robot capabilities without the need for additional cables. Furthermore, the eventuality of cable interference is strongly reduced. In this paper, the novel design concept is applied to different planar point-mass cable-driven robots, with one or more translating pulley-blocks. The maximum feasible isotropic force, along with the power dissipation and the effective mass at the end-effector are employed to compare the performances of different configurations.

Workspace Analysis of a 6-DOF Installing-Calibrating Robot

2011 ◽  
Vol 422 ◽  
pp. 75-78 ◽  
Author(s):  
Zhi Jiang Xie ◽  
Cheng Li ◽  
Wei Ni ◽  
Nan Liu
Keyword(s):  
Structural Parameters ◽  
Joint Space ◽  
Coordinate Systems ◽  
Robot Trajectory ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Time Calculation ◽  
Random Probability ◽  
Forward Kinematic ◽  
Kinematic Solution

According to the working characteristics and installment environments of modules，a compact 6-DOF installing-calibrating robot was designed. Coordinate systems of joints are set upand the forward kinematic solution are derived by using D-H methods. Using the Monte Carlo method based on random probability and MATLAB software simulation for the robot's structural parameters to the robot's workspace impact. According to joint space to the mapping workspace，robots have been the workspace. The research results have proved that the designed configuration can satisfy the needs of installment action，which will provide theoretical reference for the robot trajectory planning，dynamic analysis and online real-time calculation.

Ensuring safety in human-robot coexisting environment based on two-level protection

2016 ◽  
Vol 43 (3) ◽  
pp. 264-273 ◽  
Author(s):  
Ping Zhang ◽  
Peigen Jin ◽  
Guanglong Du ◽  
Xin Liu
Keyword(s):  
Robot Manipulator ◽  
Experimental Studies ◽  
Human Security ◽  
Gaussian Mixture ◽  
Human Motion ◽  
Content Type ◽  
Mixture Regression ◽  
Working Space ◽  
Bounding Volume ◽  
Robot Cooperation

Purpose The purpose of this paper is to provide a novel methodology based on two-level protection for ensuring safety of the moving human who enters the robot’s workspace, which is significant for dealing with the problem of human security in a human-robot coexisting environment. Design/methodology/approach In this system, anyone who enters the robot’s working space is detected by using the Kinect and their skeletons are calculated by the interval Kalman filter in real time. The first-level protection is mainly based on the prediction of the human motion, which used Gaussian mixture model and Gaussian Mixture Regression. However, even in cases where the prediction of human motion is incorrect, the system can still safeguard the human by enlarging the initial bounding volume of the human as the second-level early warning areas. Finally, an artificial potential field with some additional avoidance strategies is used to plan a path for a robot manipulator. Findings Experimental studies on the GOOGOL GRB3016 robot show that the robot manipulator can accomplish the predetermined tasks by circumventing the human, and the human does not feel dangerous. Originality/value This study presented a new framework for ensuring human security in a human-robot coexisting environment, and thus can improve the reliability of human-robot cooperation.

A probability model for fibrous composites with local load sharing

1980 ◽  
Vol 372 (1751) ◽  
pp. 539-553 ◽  
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Extreme Value Theory ◽  
Probabilistic Analysis ◽  
Asymptotic Theory ◽  
Probability Model ◽  
Probability Of Failure ◽  
Value Theory ◽  
Fibrous Composites ◽  
The Monte Carlo Method

The chain-of-bundles model for fibrous composites is reviewed, and an approximation to the probability of failure is derived. This leads to formulae for predicting the strength of such a composite. These formulae are developed in the context of an asymptotic theory, and the Monte Carlo method is used to study a specific case in more detail. We also discuss the size effect. The probabilistic analysis relies heavily on extreme value theory, and a brief survey of the relevant parts of that theory is included.

STUDY OF THE STATIC CHARACTERISTICS OF THE WORKSPACE AR600E ROBOT

2020 ◽  
Vol 5 (4) ◽  
pp. 6-12
Author(s):  
Evgeniy Shakhmatov ◽  
Vladimir Ilyukhin ◽  
Dmitry Mezentsev
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Basic Structure ◽  
Planning And Control ◽  
Working Space ◽  
The Monte Carlo Method ◽  
And Control ◽  
Kinematic Solution

The workspace is one of the most important parameters for evaluating robot flexibility and is important for optimizing robotic configuration, motion planning and control. Firstly, a kinematic model of the manipulator based on its basic structure was put forward. The systems of connection coordinates are established and the direct kinematic solution derived using DH methods. On its basis, the working space of the manipulator analyzed by the Monte Carlo method, based on random probability and software simulation MATLAB for the structural parameters of the robot. A cloud of workspace points has been compiled. Considering the problem of insufficient accuracy of the traditional Monte Carlo method in calculating the working space of the robot, an improved Monte Carlo method using the Beta distribution proposed. 

Equation-Solving DRESOR Method for Radiative Transfer in an Absorbing–Emitting and Isotropically Scattering Slab With Diffuse Boundaries

2012 ◽  
Vol 134 (12) ◽  
Author(s):  
Wang Guihua ◽  
Zhou Huaichun ◽  
Cheng Qiang ◽  
Wang Zhichao
Keyword(s):  
Boundary Surface ◽  
Computation Time ◽  
Incident Radiation ◽  
Dimensional System ◽  
Equation Solving ◽  
The Monte Carlo Method ◽  
Order Of Magnitude ◽  
Reflecting Boundaries ◽  
Overall Performance ◽  
Set Up

The distribution of ratios of energy scattered by the medium or reflected by the boundary surface (DRESOR) method can provide radiative intensity with high directional resolution, but also suffers the common drawbacks of the Monte Carlo method (MCM), i.e., it is time-consuming and produces unavoidable statistical errors. In order to overcome the drawbacks of the MCM, the so-called equation-solving DRESOR (ES-DRESOR) method, an equation-solving method to calculate the DRESOR values differently from the MCM used before, was proposed previously. In this method, a unit blackbody emission is supposed within a small zone around a specified point, while there is no emission elsewhere in a plane-parallel, emitting, absorbing, and isotropically scattering medium with transparent boundaries. The set of equations for the DRESOR values based on two expressions for the incident radiation was set up and solved successfully. In this paper, the ES-DRESOR method is extended to a one-dimensional system with diffusely reflecting boundaries. The principle and formulas are given. Several examples with different parameters are taken to examine the performance of the proposed method. The results showed that all the DRESOR values obtained using the ES-DRESOR method agree well with those got using MCM. The average relative error for the intensity obtained by the ES-DRESOR method is 9.446 × 10−6, lower by over 1 order of magnitude than the 2.638 × 10−4 obtained by the MCM under the same conditions. More importantly, the CPU time for computing the DRESOR values, which ranges from several hundred seconds to several thousand seconds using the MCM, is reduced to 0.167 s using the ES-DRESOR method. The computation time is shortened by about 3 orders of magnitude. The overall performance of the ES-DRESOR method is excellent.

Sign in / Sign up

Export Citation Format

Share Document