Generation of large pulling force by a mobile manipulator through singular configuration

2015 ◽  
Author(s):  
Xianglong Wan ◽  
Takateru Urakubo ◽  
Tomoaki Mashimo
Keyword(s):  
Mobile Manipulator ◽  
Singular Configuration ◽  
Pulling Force

A Methodology for tele-operating mobile manipulators with an emphasis on operator ease of use

Robotica ◽  
2012 ◽  
Vol 31 (3) ◽  
pp. 331-344 ◽  
Author(s):  
M. Frejek ◽  
S. B. Nokleby
Keyword(s):  
Degrees Of Freedom ◽  
Ease Of Use ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Test Results ◽  
End Effector ◽  
Optimization Routine ◽  
Singular Configuration ◽  
6 Degrees Of Freedom ◽  
Mobile Base

SUMMARYAn algorithm for the tele-operation of mobile-manipulator systems with a focus on ease of use for the operator is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators. It consists of three states. In the first state, a single 6-degrees-of-freedom (DOF) joystick is used to control the manipulator's position and orientation. The second state occurs when the manipulator approaches a singular configuration, resulting in the mobile base moving in a manner so as to keep the end-effector travelling in its last direction of motion. This is done through the use of a constrained optimization routine. The third state is entered when the operator returns the joystick to the home position. Both the mobile base and manipulator move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The algorithm has been implemented on an 8-DOF mobile manipulator and the test results show that it is effective at moving the system in an intuitive manner.

Simplified Tele-Operation of Mobile-Manipulator Systems Using Knowledge of Their Singular Configurations

2009 ◽  
Author(s):  
Michael C. Frejek ◽  
Scott B. Nokleby
Keyword(s):  
Mobile Manipulator ◽  
End Effector ◽  
Control Approach ◽  
Singular Configurations ◽  
The Third ◽  
Preliminary Version ◽  
Optimization Routine ◽  
Position And Orientation ◽  
Singular Configuration ◽  
Mobile Base

An algorithm for the simplified tele-operation of a mobile-manipulator system is presented. It allows for unified, intuitive, and coordinated control. Unlike other approaches, the mobile-manipulator system is modelled and controlled as two separate entities rather than as a whole. The algorithm consists of three states. In the first state, a joystick is used to freely control the manipulator’s position and orientation. The second state occurs when the manipulator approaches a singular configuration. This causes the mobile base to proceed in such a way as to keep the end-effector moving in its last direction. This is done through the use of a simple optimization routine. The third state is triggered by the user: once the end-effector is in the desired position, the mobile base and manipulator both move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The proposed algorithm avoids the problems of algorithmic singularities and simplifies the control approach. A preliminary version of the algorithm has been implemented on the Jasper mobile-manipulator system with success.

Analysis and optimisation of a bearingless induction motor's suspension force and unbalanced magnetic pulling force mathematical model

2020 ◽  
Vol 14 (7) ◽  
pp. 1247-1255
Author(s):  
Zebin Yang ◽  
Qifeng Ding ◽  
Xiaodong Sun ◽  
Qian Zhao ◽  
Jiasheng Luo
Keyword(s):  
Mathematical Model ◽  
Pulling Force

scholarly journals Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator

2018 ◽  
Author(s):  
Vasileios Vasilopoulos ◽  
T. Turner Topping ◽  
William Vega-Brown ◽  
Nicholas Roy ◽  
Daniel E. Koditschek
Keyword(s):  
Mobile Manipulator

scholarly journals A Cryptography-Powered Infrastructure to Ensure the Integrity of Robot Workflows

2021 ◽  
Vol 1 (1) ◽  
pp. 93-118
Author(s):  
Benjamin Breiling ◽  
Bernhard Dieber ◽  
Martin Pinzger ◽  
Stefan Rass
Keyword(s):  
Real World ◽  
Digital Signature ◽  
Mobile Manipulator ◽  
Separate Entity ◽  
Application Development ◽  
Development Environment ◽  
Essential Step ◽  
Distributed Ledger ◽  
Compliant Robot ◽  
Distributed Infrastructure

With the growing popularity of robots, the development of robot applications is subject to an ever increasing number of additional requirements from e.g., safety, legal and ethical sides. The certification of an application for compliance to such requirements is an essential step in the development of a robot program. However, at this point in time it must be ensured that the integrity of this program is preserved meaning that no intentional or unintentional modifications happen to the program until the robot executes it. Based on the abstraction of robot programs as workflows we present in this work a cryptography-powered distributed infrastructure for the preservation of robot workflows. A client composes a robot program and once it is accepted a separate entity provides a digital signature for the workflow and its parameters which can be verified by the robot before executing it. We demonstrate a real-world implementation of this infrastructure using a mobile manipulator and its software stack. We also provide an outlook on the integration of this work into our larger undertaking to provide a distributed ledger-based compliant robot application development environment.

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