scholarly journals Motion Imitation and Augmentation System for a Six Degrees of Freedom Dual-Arm Robot

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 153986-153998 ◽  
Author(s):  
Chih-Yin Liu ◽  
Jie-Jhong Liang ◽  
Tzuu-Hseng S. Li ◽  
Kai-Chieh Chang
Keyword(s):  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Dual Arm Robot ◽  
Dual Arm

Calculation of 6-DOF Pose of Arbitrary Inclined Nuts for a Grasping Task by Dual-Arm Robot

2012 ◽  
Vol 24 (1) ◽  
pp. 191-204 ◽  
Author(s):  
Ruhizan Liza Ahmad Shauri ◽  
◽  
Kenzo Nonami
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Labor Cost ◽  
Initial Experiment ◽  
Six Degrees Of Freedom ◽  
Cooperative Tasks ◽  
Dual Arm Robot ◽  
Small Parts ◽  
Future Work ◽  
Dual Arm

The capability to manipulate small objects is one of the important requirements for producing assembly work robots. Moreover, a robot that exhibits humanlike skills could be used to reduce the high labor cost for complex tasks. Therefore, we propose a seven-link dual-arm robot with three-fingered hands for cooperative tasks to manipulate small parts such as nuts and bolts in an unstructured environment. As an initial experiment, we need to obtain the six degrees of freedom (DOF) posture of a hexagonal M10 nut (diameter, 19.6 mm), which is small and possesses an indistinguishable color. These constraints have made it difficult to recognize such a target by current available methods where a higher order of posture data is necessary for robot operation. Hence, we propose a technique that we have labeled as Confirm-Estimate-Rotate (CER), which employs integration between the image and robot algorithms in consecutive iteration loops via a visual servoing structure. Real-time experimental results indicate the capability of our method to change the seven-link arm robot posture safely to match the posture of a target in an inclined position. Furthermore, a statistical grasping result by this method has shown a moderate performance for nuts in arbitrary poses. Thus, this shows that the method could be applied to solve the problem of aligning nuts and bolts from the previous screwing task performed by the dual-arm robot in the next future work.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

scholarly journals Design and Calibration of a Hall Effect System for Measurement of Six-Degree-of-Freedom Motion within a Stacked Column

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3740
Author(s):  
Olafur Oddbjornsson ◽  
Panos Kloukinas ◽  
Tansu Gokce ◽  
Kate Bourne ◽  
Tony Horseman ◽  
...  
Keyword(s):  
Hall Effect ◽  
Degrees Of Freedom ◽  
Reactor Core ◽  
Degree Of Freedom ◽  
Life Extension ◽  
Scale Model ◽  
Design Development ◽  
Seismic Safety ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

This paper presents the design, development and evaluation of a unique non-contact instrumentation system that can accurately measure the interface displacement between two rigid components in six degrees of freedom. The system was developed to allow measurement of the relative displacements between interfaces within a stacked column of brick-like components, with an accuracy of 0.05 mm and 0.1 degrees. The columns comprised up to 14 components, with each component being a scale model of a graphite brick within an Advanced Gas-cooled Reactor core. A set of 585 of these columns makes up the Multi Layer Array, which was designed to investigate the response of the reactor core to seismic inputs, with excitation levels up to 1 g from 0 to 100 Hz. The nature of the application required a compact and robust design capable of accurately recording fully coupled motion in all six degrees of freedom during dynamic testing. The novel design implemented 12 Hall effect sensors with a calibration procedure based on system identification techniques. The measurement uncertainty was ±0.050 mm for displacement and ±0.052 degrees for rotation, and the system can tolerate loss of data from two sensors with the uncertainly increasing to only 0.061 mm in translation and 0.088 degrees in rotation. The system has been deployed in a research programme that has enabled EDF to present seismic safety cases to the Office for Nuclear Regulation, resulting in life extension approvals for several reactors. The measurement system developed could be readily applied to other situations where the imposed level of stress at the interface causes negligible material strain, and accurate non-contact six-degree-of-freedom interface measurement is required.

Sign in / Sign up

Export Citation Format

Share Document