Vision-Based Self-Adaptive Gripping in a Trimodal Robotic Sorting End-Effector

A new improved differential evolution constrained optimization algorithm is proposed to determine the optimum path generation of a rock-drilling manipulator with nine degrees of freedom. This algorithm is developed to minimize the total joint displacement without compromising the pose accuracy of the end-effector. Considering the rule for optimal operation time and smooth joint motion, total joint displacement and minimization of the end-effector pose error are respectively taken as the optimization objective and constraints. In the proposed algorithm, the inverse kinematics solution is computed by self-adaptive mutation differential evolution constrained optimization (SAMDECO) algorithm. Unlike conventional differential evolution (DE) algorithms, in the process of selection operation, the proposed algorithm takes full advantages of the information of excellent infeasible solutions in the contemporary population and scales the contribution of position constraint and orientation constraint. Consequently, the search process is guided to approach the optimal solution from both feasible and infeasible regions, which tremendously improves convergence accuracy and convergence rate. Some contrastive experiments are conducted with the basic self-adaptive mutation differential evoluton (SAMDE) algorithm. The results indicate that the proposed algorithm outperforms the basic SAMDE algorithm in terms of compliance of joints, which raises operation efficiency and plays an important role in engineering services value.

Download Full-text

Self-adaptive Stable Grasp of Two-finger End-effector: A Review

Journal of Physics Conference Series ◽

10.1088/1742-6596/1325/1/012070 ◽

2019 ◽

Vol 1325 ◽

pp. 012070

Author(s):

Xiaojing Chen ◽

Gaofeng Zhang ◽

Peicheng Peng ◽

Yuqing Wang

Keyword(s):

End Effector ◽

Self Adaptive

Download Full-text

Impedance joint torque control of an active-passive composited driving self-adaptive end effector for space manipulator

Proceeding of the 11th World Congress on Intelligent Control and Automation ◽

10.1109/wcica.2014.7053691 ◽

2014 ◽

Author(s):

Miao Zhou ◽

ZhongYi Chu

Keyword(s):

Torque Control ◽

Joint Torque ◽

Space Manipulator ◽

End Effector ◽

Self Adaptive

Download Full-text

A novel self-adaptive modified bat fuzzy sliding mode control of robot manipulator in presence of uncertainties in task space

Robotica ◽

10.1017/s0263574714001258 ◽

2014 ◽

Vol 33 (10) ◽

pp. 2045-2064 ◽

Cited By ~ 22

Author(s):

Mohammad Veysi ◽

Mohammad Reza Soltanpour ◽

Mohammad Hassan Khooban

Keyword(s):

Sliding Mode Control ◽

Feedback Linearization ◽

Sliding Mode ◽

Linearization Method ◽

Task Space ◽

End Effector ◽

First Order ◽

Mode Control ◽

Fuzzy Sliding Mode ◽

Self Adaptive

SUMMARYIn this paper, an optimal fuzzy sliding mode controller has been designed for controlling the end-effector position in the task space. In the proposed control, feedback linearization method, sliding mode control, first-order fuzzy TSK system and optimization algorithm are utilized. In the proposed controller, a novel heuristic algorithm namely self-adaptive modified bat algorithm (SAMBA) is employed. To achieve an optimal performance, the parameters of the proposed controller as well as the input membership functions are optimized by SAMBA simultaneously. In this method, the bounds of structural and non-structural uncertainties are reduced by using feedback linearization method, and to overcome the remaining uncertainties, sliding mode control is employed. Mathematical proof demonstrates that the closed loop system with the proposed control has global asymptotic stability. The presence of sliding mode control gives rise to the adverse phenomenon of chattering in the end-effector position tracking in the task space. Subsequently, to prevent the occurrence of chattering in control input, a first-order TSK fuzzy approximator is utilized. Finally, to determine the fuzzy sliding mode controller coefficients, the optimization algorithm of Self-Adaptive Modified Bat is employed. To investigate the performance of the proposed control, a two-degree-of-freedom manipulator is used as a case study. The simulation results indicate the favorable performance of the proposed method.

Download Full-text

An Underactuated PASA Finger Capable of Perfectly Linear Motion With Compensatory Displacement

Journal of Mechanisms and Robotics ◽

10.1115/1.4041786 ◽

2018 ◽

Vol 11 (1) ◽

Author(s):

Eric Zheng ◽

Wenzeng Zhang

Keyword(s):

Static Analysis ◽

Experimental Results ◽

Linear Motion ◽

Linkage Mechanism ◽

Design Features ◽

Equilibrium Conditions ◽

End Effector ◽

Four Bar Linkage ◽

Novel Design ◽

Self Adaptive

This paper presents a novel design for a robotic end effector. In particular, the design features a multifingered underactuated gripper capable of performing parallel and self-adaptive (PASA) grasping. The unique use of an eccentric cam fixed to a modified four-bar linkage mechanism allows the finger to compensate for the typical gap distance found during parallel pinching, improving the ability to grasp objects against surfaces and in tight spaces. A static analysis is performed on the design to determine the equilibrium conditions necessary for a successful grasp using this design in both the PASA modes. The mechanics of a four-bar mechanism are used to determine the grasp velocity and positioning of the hand in both grasp modes. Experimental results with a finger prototype confirm the desired closing trajectory.

Download Full-text