A peg-in-hole controller for cable-driven serial robots with compliant wrist based on cable tensions and joint positions

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ya'nan Lou ◽  
Pengkun Quan ◽  
Haoyu Lin ◽  
Zhuo Liang ◽  
Dongbo Wei ◽  
...  
Keyword(s):  
Design Methodology ◽  
Hybrid Control ◽  
Assembly System ◽  
Compliance Matrix ◽  
Content Type ◽  
Assembly Task ◽  
Serial Robots ◽  
Serial Robot ◽  
Relevant Work

Purpose This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through a CW. It is required that the controller does not rely on any external sensors such as 6-axis wrist force/torque (F/T) sensor, and only the compliance matrix’s estimated value of the CW is known. Design/methodology/approach First, the peg-in-hole assembly system based on a CDSR-CW is analyzed. Second, a characterization algorithm using micro cable tensions and joint positions to express the elastic F/T at the CW is established. Next, under the premise of only knowing the compliance matrix’s estimate, a peg-in-hole controller based on force/position hybrid control is proposed. Findings The experiment results show that the plug contact F/T can be tracked well. This verifies the validity and correctness of the characterization algorithm and peg-in-hole controller for CDSR-CWs in this paper. Originality/value First, to the authors’ knowledge, there is no relevant work about the peg-in-hole assembly task using a CDSR-CW. Besides, the proposed characterization algorithm for the elastic F/T makes the peg-in-hole controller get rid of the dependence on the F/T sensor, which expands the application scenarios of the peg-in-hole controller. Finally, the controller does not require an accurate compliance matrix, which also increases its applicability.

General inverse solution of six-degrees-of-freedom serial robots based on the product of exponentials model

2018 ◽  
Vol 38 (3) ◽  
pp. 361-367 ◽  
Author(s):  
Haixia Wang ◽  
Xiao Lu ◽  
Wei Cui ◽  
Zhiguo Zhang ◽  
Yuxia Li ◽  
...  
Keyword(s):  
Design Methodology ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Complex Problem ◽  
Content Type ◽  
Geometrical Properties ◽  
Closed Form Solutions ◽  
Six Degrees Of Freedom ◽  
Serial Robots ◽  
Six Dof

Purpose Developing general closed-form solutions for six-degrees-of-freedom (DOF) serial robots is a significant challenge. This paper thus aims to present a general solution for six-DOF robots based on the product of exponentials model, which adapts to a class of robots satisfying the Pieper criterion with two parallel or intersecting axes among its first three axes. Design/methodology/approach The proposed solution can be represented as uniform expressions by using geometrical properties and a modified Paden–Kahan sub-problem, which mainly adopts the screw theory. Findings A simulation and experiments validated the correctness and effectiveness of the proposed method (general resolution for six-DOF robots based on the product of exponentials model). Originality/value The Rodrigues rotation formula is additionally used to turn the complex problem into a solvable trigonometric function and uniformly express six solutions using two formulas.

Banking on experiments?

2015 ◽  
Vol 42 (6) ◽  
pp. 943-971 ◽  
Author(s):  
Martin Dufwenberg
Keyword(s):  
Experimental Economics ◽  
Design Methodology ◽  
Laboratory Experiments ◽  
Banking Crises ◽  
Financial History ◽  
Content Type ◽  
Policy Responses ◽  
Lab Experiments ◽  
Relevant Work ◽  
Shed Light

Purpose – How can laboratory experiments help us understand banking crises, including the usefulness of various policy responses? After giving a concise introduction to the field of experimental economics more generally, the author attempts to provide answers. The paper aims to discuss this issue. Design/methodology/approach – The author discusses methodology and surveys relevant work. Findings – History is often too complicated to be meaningfully revamped or modified in the lab, for purposes of insight-by-analogy. But as people argue about how to understand financial history, they bring ideas to the table. It is possible and useful to test the empirical relevance of these ideas in lab experiments. Originality/value – The paper pioneers broad discussion of how lab experiments may shed light on banking crises.

A vision-based fully-automatic calibration method for hand-eye serial robot

2015 ◽  
Vol 42 (1) ◽  
pp. 64-73 ◽  
Author(s):  
Haixia Wang ◽  
Xiao Lu ◽  
Zhanyi Hu ◽  
Yuxia Li
Keyword(s):  
Design Methodology ◽  
Calibration Method ◽  
Automatic Calibration ◽  
Screw Axis ◽  
Robot System ◽  
Camera System ◽  
Content Type ◽  
Serial Robot ◽  
Fully Automatic ◽  
Robot Body

Purpose – The purpose of this paper is to present a fully automatic calibration method for hand-eye serial robot system is presented in this paper. The so-called “fully automatic” is meant to calibrate the robot body, the hand-eye relation, and the used measuring binocular system at the same time. Design/methodology/approach – The calibration is done by controlling the joints to rotate several times one by one in the reverse order (i.e. from the last one to the first one), and simultaneously take pictures of the checkerboard patterns by the stereo camera system attached on the end-effector, then the whole robot system can be calibrated automatically from these captured images. In addition, a nonlinear optimization step is used to further refine the calibration results. Findings – The proposed method is essentially based on an improved screw axis identification method, and it needs only a mirror and some paper checkerboard patterns without resorting to any additional costly measuring instrument. Originality/value – Simulations and real experiments on MOTOMAN-UP6 robot system demonstrate the feasibility and effectiveness of the proposed method.

Should knowledge be shared generously? Tracing insights from past to present and describing a model

2016 ◽  
Vol 20 (4) ◽  
pp. 713-730 ◽  
Author(s):  
Amitabh Anand ◽  
Isabelle Walsh
Keyword(s):  
Knowledge Sharing ◽  
Design Methodology ◽  
Partial Knowledge ◽  
Content Type ◽  
Work Related ◽  
The Past ◽  
Significant Relationships ◽  
Proposed Model ◽  
Relevant Work

Purpose The purpose of this study is to attempt to answer the following questions: Are people generous at work places? How often do we see people willing to share, when someone seeks knowledge from them without any expectation? What’s the point in having knowledge when somebody doesn’t share it? Then again, why do firms, reward employees to share their knowledge? ¬ ¬? Does sharing knowledge between people need a commercial acceptance or rewarding inspiration? In firms, people, who do not have relevant work-related knowledge, seek it from others. Thus, this implies that people can either share their knowledge or hoard knowledge or share partial knowledge. This research shows that sharing knowledge has existed for centuries and has been practised through generosity, with proof that the more you share the more you obtain in return. The authors analyse the role of generosity in sharing knowledge by tracing insights from literature, religion, science and modern day management scholarly views, and they show how it can lead firms to succeed. In this paper, the authors will propose a direction for future researchers on how developing generosity helps towards sharing knowledge. They also propose a model of generosity based on literature and its interpretation. Design/methodology/approach This paper is based on extensive reviews of literature, articles and opinions from scholars. The authors use a keyword protocol to investigate articles from Google scholar and other sources on generosity and knowledge sharing. Findings This paper finds significant relationships and validated shreds of evidence on how generosity towards knowledge sharing has helped humanity in the past and how generosity can help firms to succeed. Originality/value This paper is the first of its kind in trying to explore how developing generosity among people can play a role in facilitating knowledge sharing for firms to succeed. This further suggests a new direction of research for scholars engaged in exploring the role of generosity with a proposed model.

scholarly journals Welcome to the jungle! The neuromarketing literature through the eyes of a newcomer

2018 ◽  
Vol 52 (1/2) ◽  
pp. 4-38 ◽  
Author(s):  
Nick Lee ◽  
Laura Chamberlain ◽  
Leif Brandes
Keyword(s):  
Design Methodology ◽  
Journal Ranking ◽  
Content Type ◽  
Consumer Neuroscience ◽  
Excellent Research ◽  
Number Of Publications ◽  
Research Standards ◽  
Future Work ◽  
Relevant Work ◽  
Scientific Purpose

Purpose To grow, any field of research must both encourage newcomers to work within its boundaries, and help them learn to conduct excellent research within the field’s parameters. This paper aims to examine whether the existing body of neuromarketing literature can support such growth. Specifically, the authors attempt to replicate how a newcomer to the field of neuromarketing would go about orienting themselves to the field and learn how to conduct excellent neuromarketing research. Design/methodology/approach A total of 131 papers, published in the areas of “neuromarketing” and “consumer neuroscience” were downloaded and then identified as conceptual or empirical in nature. A separate database was created for each type of research paper and information was recorded. For both conceptual and empirical papers, the citation details, notably year of publication, journal, journal ranking and impact factor were recorded. Papers were then descriptively analysed with regards to number of publications over the years, content and journal quality. Findings It is found that interest in the field is growing, with a greater variety of topics and methods appearing year on year. However, the authors also identify some issues of concern for the field if it wishes to sustain this growth. First, the highly fragmented literature and the lack of signposting makes it very difficult for newcomers to find the relevant work and journal outlets. Second, there is a lack of high-quality, user-oriented methodological primers that a newcomer would come across. Finally, neuromarketing as it appears to a newcomer suffers from a lack of clear guidance on what defines good vs bad neuromarketing research. As a large majority of the reviewed papers have appeared in lower-ranked journals, newcomers might get a biased view on the acceptable research standards in the field. Originality/value The insights from the analysis inform a tentative agenda for future work which gives neuromarketing itself greater scientific purpose, and the potential to grow into a better-established field of study within marketing as a whole.

In control we trust!? Exploring formal control configurations for municipally owned corporations

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Tobias Alexander Krause ◽  
Martyna Daria Swiatczak
Keyword(s):  
Cluster Analysis ◽  
Logistic Regression ◽  
Design Methodology ◽  
Predictive Power ◽  
Hybrid Control ◽  
Control Input ◽  
Content Type ◽  
Hybrid Governance ◽  
Formal Control ◽  
Formal Controls

PurposeThis study examines the interplay of formal types of control (input, behavior and outcome) exercised on municipally owned corporations (MOCs). It further investigates whether particular informal contingencies (trust and interdependence) predict affiliation to the derived municipal control configurations.Design/methodology/approachThe paper applies an exploratory cluster analysis based on survey data from 243 top-level managers of German MOCs. It then investigates the clustered municipal control configurations using binomial logistic regression.FindingsThe exploratory analysis reveals four municipal control configurations: (1) input-dominated control, (2) outcome-dominated control, (3) mixed input/outcome control and (4) “neglect of formal control”. As expected, both of the informal contingencies demonstrate strong predictive power. More precisely, trust increases the likelihood of belonging to the dominant outcome control cluster and interdependence increases the likelihood of belonging to the mixed input/outcome control cluster. Surprisingly, the neglect of formal control cluster is characterized by low trust and low interdependence.Originality/valueThe study sheds light on the widely assumed but understudied interplay of different formal controls in hybrid governance settings. Furthermore, the analysis stresses the importance of trust and interdependence when explaining hybrid control configurations.

Robotic assembly for tight tolerant cascaded peg-in-hole process with incomplete constraints

2020 ◽  
Vol 40 (5) ◽  
pp. 769-778
Author(s):  
Hongtai Cheng ◽  
Tianzhuo Liu ◽  
Wei Zhang ◽  
Lina Hao
Keyword(s):  
Control Strategy ◽  
Design Methodology ◽  
Hybrid Control ◽  
Industrial Robot ◽  
Robotic Assembly ◽  
Content Type ◽  
Modeling And Control ◽  
Experiment Platform ◽  
Stepped Shaft ◽  
And Control

Purpose Installing a tight tolerant stepped shaft is not a trivial task for an industrial robot. If all peg-hole constraints are complete, the cascaded peg-in-hole task can be simplified into several independent stages and accomplished one by one. However, if some of the constraints are incomplete, the cross stage interference will bring additional difficulties. This paper aims to discuss the cascaded peg-in-hole problem with incomplete constraints. Design/methodology/approach In this paper, the problem is formulated according to geometric parameters of the stepped shaft and completeness of the corresponding hole. The possible jamming type is modeled and analyzed. A contact modeling and control strategy is proposed to compensate the peg postures under incomplete constraints. Findings The above methods are implemented on an experiment platform and the results verify the effectiveness of the proposed robotic assembly strategy. Originality/value Based on force/torque sensor, a hybrid control strategy for incomplete constraints cascaded peg-in-hole assembly problem is proposed.

Force control for a rigid dual peg-in-hole assembly

2017 ◽  
Vol 37 (2) ◽  
pp. 200-207 ◽  
Author(s):  
Kuangen Zhang ◽  
MinHui Shi ◽  
Jing Xu ◽  
Feng Liu ◽  
Ken Chen
Keyword(s):  
Force Control ◽  
Design Methodology ◽  
Control Strategies ◽  
Contact Forces ◽  
Experimental Results ◽  
Assembly Process ◽  
Automatic Assembly ◽  
Content Type ◽  
Assembly Task

Purpose This paper aims to realize the automatic assembly process for multiple rigid peg-in-hole components. Design/methodology/approach This paper develops fuzzy force control strategies for the rigid dual peg-in-hole assembly. Firstly the fuzzy force control strategies are presented. Secondly the contact states and contact forces are analyzed to prove the availability of the force control strategies. Findings The rigid dual peg-in-hole assembly experimental results show the effectiveness of the control strategies. Originality/value This paper proposes fuzzy force control strategies for a rigid dual peg-in-hole assembly task.

scholarly journals Vulnerable adults in police custody

2019 ◽  
Vol 22 (1) ◽  
pp. 5-8
Author(s):  
Ian Cummins
Keyword(s):  
Design Methodology ◽  
Research Literature ◽  
Police Custody ◽  
England And Wales ◽  
Content Type ◽  
Increased Risk ◽  
Vulnerable Adults

Purpose The purpose of this paper is to discuss the recent National Appropriate Adult Network (NAAN) report on the role of the appropriate adult. Design/methodology/approach This paper is based on the NAAN report and a review of relevant policy and research literature. Findings There to Help 2 highlights that there are still significant gaps in the provision of appropriate adult schemes across England and Wales. These gaps potentially place vulnerable adults at increased risk. Originality/value This paper is a review of recent research.

Co-workers’ perceptions of and reactions to employee’s involuntary demotion

2019 ◽  
Vol 41 (4) ◽  
pp. 740-757 ◽  
Author(s):  
Sophie Hennekam ◽  
Subramaniam Ananthram ◽  
Steve McKenna
Keyword(s):  
Design Methodology ◽  
Emotional Responses ◽  
Emotional Reaction ◽  
Content Type ◽  
Informational Justice ◽  
Behavioural Responses ◽  
Behavioural Reaction ◽  
Three Stages ◽  
Depth Interviews ◽  
The Way

Purpose The purpose of this paper is to investigate how individuals perceive and react to the involuntary demotion of a co-worker in their organisation. Design/methodology/approach The authors draw on 46 semi-structured in-depth interviews (23 dyads) with co-workers of demoted individuals. Findings The findings suggest that an individual’s observation of the demotion of a co-worker has three stages: their perception of fairness, their emotional reaction and their behavioural reaction. The perception of fairness concerned issues of distributive, procedural, interpersonal and informational justice. The emotional responses identified were feelings of disappointment/disillusion, uncertainty, vulnerability and anger. Finally, the behavioural reactions triggered by their emotional responses included expressions of voice, loyalty, exit and adaptation. Originality/value Perceptions of (in)justice perpetrated on others stimulate emotional and behavioural responses, which impacts organisational functioning. Managers should therefore pay attention to the way a demotion is perceived, not only by those directly concerned, but also by co-workers as observers.

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