The robustness analysis of two motion control algorithms for Stäubli TX40 robot in object manipulation task

2011 ◽  
Author(s):  
Hesam Eddin Shoori Jazeh ◽  
Farzad Cheraghpour Samavati ◽  
Masoud Vaezi ◽  
S. Ali A. Moosavian
Keyword(s):  
Motion Control ◽  
Robustness Analysis ◽  
Object Manipulation ◽  
Control Algorithms ◽  
Manipulation Task

Which impedance strategy is the most effective for cooperative object manipulation?

2017 ◽  
Vol 44 (2) ◽  
pp. 198-209 ◽  
Author(s):  
Payam Zarafshan ◽  
Reza Larimi ◽  
S. Ali A. Moosavian ◽  
Bruno Siciliano
Keyword(s):  
Conceptual Model ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Object Manipulation ◽  
Robotic System ◽  
Control Algorithms ◽  
Practical Implementation ◽  
Content Type ◽  
Manipulation Task ◽  
Cooperative Object Manipulation

Purpose The purpose of this paper is to present a comparison study of cooperative object manipulation control algorithms. To this end, a full comprehensive survey of the existing control algorithms in this field is presented. Design/methodology/approach Cooperative manipulation occurs when manipulators are mechanically coupled to the object being manipulated, and the manipulators may not be treated as an isolated system. The most important and basic impedance control (IC) strategies for an assumed cooperative object manipulation task are the Augmented Object Model (AOM) control and the multiple impedance control (MIC) which are found based on the IC, where the former is designed based on the object movement, and the latter is designed based on the whole robot movement. Thus, the basis of these two algorithms are fully studied. Findings The results are fully analyzed, and it is practically verified that the MIC algorithm has the better performance. In fact, the results reveal that the MIC system could successfully perform the object manipulation task, as opposed to the AOM controller: for the same controller gains, the MIC strategy showed better performance than the AOM strategy. This means that because there is no control on the robot base with the AOM algorithm, the object manipulation task cannot be satisfactorily performed whenever the desired path is not within the robot work space. On the other hand, with the MIC algorithm, satisfactory object manipulation is achieved for a mobile robotic system in which the robot base, the manipulator endpoints and the manipulated object shall be moved. Practical implications A simple conceptual model for cooperative object manipulation is considered, and a suitable setup is designed for practical implementation of the two ICs. Originality/value The basis of these two aspects or these two algorithms is fully studied and compared which is the foundation of this paper. For this purpose, a case study is considered, in which a space free-flying robotic system, which contains two 2-degrees of freedom planar cooperative manipulators, is simulated to manipulate an object using the above control strategies. The system also includes a rotating antenna and camera as its third and fourth arm. Finally, a simple conceptual model for cooperative object manipulation is considered, and a suitable setup is designed for practical implementation of the two ICs.

scholarly journals Motion Planning and Reactive Control Algorithms for Object Manipulation in Uncertain Conditions

Robotics ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 76
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Gaetano Lettera ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Motion Planning ◽  
Motion Control ◽  
Control Algorithm ◽  
State Of The Art ◽  
Object Manipulation ◽  
Control Algorithms ◽  
Reactive Control ◽  
Actual Object ◽  
Depth Images ◽  
Grasp Force

This work proposes the application of several smart strategies for object manipulation tasks. A real-time flexible motion planning method was developed to be adapted to typical in-store logistics scenarios. The solution combines and optimizes some state-of-the-art techniques to solve object recognition and localization problems with a new hybrid pipeline. The algorithm guarantees good robustness and accuracy for object detection through depth images. A standard planner plans collision-free trajectories throughout the whole task while a proposed reactive motion control is active. Distributed proximity sensors were adopted to locally modify the planned trajectory when unexpected or misplaced obstacles intervene in the scene. To implement a robust grasping phase, a novel slipping control algorithm was used. It dynamically computes the grasp force by adapting it to the actual object physical properties so as to prevent slipping. Experimental results carried out in a typical supermarket scenario demonstrate the effectiveness of the presented methods.

Impact of task difficulty on gaze behavior in a sequential object manipulation task

2017 ◽  
Vol 235 (11) ◽  
pp. 3479-3486 ◽  
Author(s):  
Johannes Kurz ◽  
Mathias Hegele ◽  
Mathias Reiser ◽  
Jörn Munzert
Keyword(s):  
Task Difficulty ◽  
Object Manipulation ◽  
Gaze Behavior ◽  
Manipulation Task

scholarly journals Word-based categorization in 14 to 16 month-old infants: Evidence from a Slavic language

Psihologija ◽  
2014 ◽  
Vol 47 (2) ◽  
pp. 215-229 ◽  
Author(s):  
Slavica Tutnjevic ◽  
Sinisa Lakic
Keyword(s):  
Object Manipulation ◽  
Chance Level ◽  
Slavic Language ◽  
Perceptual Similarity ◽  
Similar Shape ◽  
Novel Objects ◽  
Research Findings ◽  
Manipulation Task ◽  
Unknown Objects

We investigate early word-based categorization by testing one sample of infants at the ages of 14 and 16 months using an object manipulation task. Specifically, we investigate the facilitating effect of labeling on: a) categorization of unknown objects with a shared label and a similar shape; b) categorization of unknown objects with a shared label, but no perceptual similarity. The results indicate that an average infant can categorize novel objects with a similar shape and a shared label starting at 16 months of age. Categorization of novel objects with a shared label but no perceptual similarity is at chance level at both ages. These results confirm and extend previous research findings to a new language.

scholarly journals Viewpoint Usability for Desktop Augmented Reality

2006 ◽  
Vol 5 (3) ◽  
pp. 33-39 ◽  
Author(s):  
Seokhee Jeon ◽  
Hyeongseop Shim ◽  
Gerard J. Kim
Keyword(s):  
Augmented Reality ◽  
Task Performance ◽  
Depth Perception ◽  
Object Manipulation ◽  
Head Mounted Display ◽  
Usability Problems ◽  
Head Mounted Displays ◽  
Hand Eye Coordination ◽  
Manipulation Task ◽  
Perceived Usability

In this paper, we have investigated the comparative usability among three different viewing configurations of augmented reality (AR) system that uses a desktop monitor instead of a head mounted display. In many cases, due to operational or cost reasons, the use of head mounted displays may not be viable. Such a configuration is bound to cause usability problems because of the mismatch in the user's proprioception, scale, hand eye coordination, and the reduced 3D depth perception. We asked a pool of subjects to carry out an object manipulation task in three different desktop AR set ups. We measured the subject's task performance and surveyed for the perceived usability and preference. Our results indicated that placing a fixed camera in the back of the user was the best option for convenience and attaching a camera on the user�s head for task performance. The results should provide a valuable guide for designing desktop augmented reality systems without head mounted displays

A Variational Approach for Modeling Flexibility Effects in Manipulator Arms

Robotica ◽  
1991 ◽  
Vol 9 (2) ◽  
pp. 213-217 ◽  
Author(s):  
Ali Meghdari
Keyword(s):  
Motion Control ◽  
Variational Approach ◽  
Control Algorithms ◽  
General Technique ◽  
Robotic Arms ◽  
Cartesian Space ◽  
The Matrix ◽  
Structural Deformations ◽  
Castigliano’S Theorem ◽  
Compliance Coefficients

SUMMARYThis paper presents a general technique to model flexible components (mainly links and joints flexibilities are considered) of manipulator arms based on Castigliano's theorem of least work. The robotic arms flexibility properties are derived and represented by the matrix of compliance coefficients. Such expressions can be used to determine the errors due to the robotic tip deformations under the application of a set of applied loads at the tip in a Cartesian space. Once these deformations are computed, they may be used to correct for the positional errors arisen from the robotic structural deformations in the motion control algorithms.

An investigation into manual asymmetries in grasp behavior and kinematics during an object manipulation task

2011 ◽  
Vol 215 (1) ◽  
pp. 65-75 ◽  
Author(s):  
Christian Seegelke ◽  
Charmayne M. L. Hughes ◽  
Thomas Schack
Keyword(s):  
Object Manipulation ◽  
Manual Asymmetries ◽  
Manipulation Task
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