Dynamic Analysis of Two Cooperating Robots

1987 ◽  
Author(s):  
G. R. Pennock ◽  
B. S. Ryuh
Keyword(s):  
High Performance ◽  
Cost Savings ◽  
Industrial Robots ◽  
Multirobot Systems ◽  
Working Environments ◽  
Time Space ◽  
Cooperating Robots ◽  
Increasing Demand ◽  
And Control ◽  
Assembly Tasks

Abstract The use of a computer-controlled multirobot system with sensors in batch manufacturing and assembly tasks offers a number of significant advantages. These include cost savings, reliability, tolerance of working environments unacceptable to humans, and an adaptability to both structured and unstructured environments through simple reprogramming. The end results are improved productivity, efficiency, and flexibility in manufacturing and automation. However, the use of two or more cooperating robots has not been fully exploited to date. Current industrial practice employs simple time-space coordination which does not allow more than one robot working in a common workspace, such coordination and control results in under-utilization of robots. With the increasing demand for high performance manipulators and efficient multirobot manufacturing cells, there is a vital need to develop theoretical and design methodologies that will solve the generic problems faced by industrial robots working cooperatively. If multirobot systems are to be used in manufacturing and assembly tasks, a thorough knowledge of the dynamics of such systems is essential. This paper formulates the dynamics of two robots cooperating to move a rigid body object. The analysis is based on Newtonian mechanics with screw calculus and dual transformation matrices.

scholarly journals Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

2021 ◽  
Author(s):  
Loris Roveda ◽  
Dario Piga
Keyword(s):  
Impedance Control ◽  
Interaction Force ◽  
Industrial Robots ◽  
Force Estimation ◽  
Interaction Control ◽  
Stiffness Properties ◽  
Implementation Effort ◽  
Coupling Dynamics ◽  
And Control ◽  
Assembly Tasks

AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.

Development of Sensorless Force-Control-Based End-Effector for Automated Robot Polishing

2020 ◽  
Author(s):  
Takuhiro Tsukada ◽  
Shotaro Ogawa ◽  
Katsuki Koto ◽  
Yasuhiro Kakinuma
Keyword(s):  
Force Control ◽  
High Performance ◽  
Force Sensor ◽  
Pressure Control ◽  
Industrial Robots ◽  
End Effector ◽  
Finishing Process ◽  
Polishing Force ◽  
Articulated Robot ◽  
And Control

Abstract As the finishing process in manufacturing a fine mold, manual polishing is typically performed to enhance the surface quality. On the other hand, manual polishing causes increase in costs and health damage to the workers due to sucking polishing dusts. Hence, polishing automation is strongly required by utilizing industrial robots. Regarding robot polishing, highly responsive polishing pressure control is definitely needed so that macro-micro system integrating high-performance end-effector into the articulated robot could be an appropriate approach because response of the robot itself is not sufficiently high. From this viewpoint, the purpose of this study is to develop an end-effector having the ability to simultaneously control polishing force and tool spindle speed. The mechanism and control system of the end-effector are designed and experimentally evaluated. In terms of force control, observer-based force control, which does not require any additional force sensor, is implemented. The experimental results show that the developed end-effector successfully control polishing force with 0.1 N and bandwidth up to 23 Hz.

Mineral/microfibrillated cellulose composite materials: High performance products, applications, and product forms

TAPPI Journal ◽  
2018 ◽  
Vol 17 (09) ◽  
pp. 507-515 ◽  
Author(s):  
David Skuse ◽  
Mark Windebank ◽  
Tafadzwa Motsi ◽  
Guillaume Tellier
Keyword(s):  
Composite Materials ◽  
High Performance ◽  
Aqueous Suspension ◽  
Production Capacity ◽  
Cost Savings ◽  
Cost Effective ◽  
New Materials ◽  
Wet Strength ◽  
Product Forms ◽  
Cellulose Composite

When pulp and minerals are co-processed in aqueous suspension, the mineral acts as a grinding aid, facilitating the cost-effective production of fibrils. Furthermore, this processing allows the utilization of robust industrial milling equipment. There are 40000 dry metric tons of mineral/microfbrillated (MFC) cellulose composite production capacity in operation across three continents. These mineral/MFC products have been cleared by the FDA for use as a dry and wet strength agent in coated and uncoated food contact paper and paperboard applications. We have previously reported that use of these mineral/MFC composite materials in fiber-based applications allows generally improved wet and dry mechanical properties with concomitant opportunities for cost savings, property improvements, or grade developments and that the materials can be prepared using a range of fibers and minerals. Here, we: (1) report the development of new products that offer improved performance, (2) compare the performance of these new materials with that of a range of other nanocellulosic material types, (3) illustrate the performance of these new materials in reinforcement (paper and board) and viscosification applications, and (4) discuss product form requirements for different applications.

Improving Efficiency in Robot Assisted Belt Grinding of High Performance Materials

2014 ◽  
Vol 907 ◽  
pp. 139-149 ◽  
Author(s):  
Eckart Uhlmann ◽  
Florian Heitmüller
Keyword(s):  
Gas Turbines ◽  
High Performance ◽  
Scale Effects ◽  
Turbine Blades ◽  
Repair Process ◽  
Industrial Robots ◽  
Robot Assisted ◽  
Belt Grinding ◽  
Economy Of Scale ◽  
The Individual

In gas turbines and turbo jet engines, high performance materials such as nickel-based alloys are widely used for blades and vanes. In the case of repair, finishing of complex turbine blades made of high performance materials is carried out predominantly manually. The repair process is therefore quite time consuming. And the costs of presently available repair strategies, especially for integrated parts, are high, due to the individual process planning and great amount of manually performed work steps. Moreover, there are severe risks of partial damage during manually conducted repair. All that leads to the fact that economy of scale effects remain widely unused for repair tasks, although the piece number of components to be repaired is increasing significantly. In the future, a persistent automation of the repair process chain should be achieved by developing adaptive robot assisted finishing strategies. The goal of this research is to use the automation potential for repair tasks by developing a technology that enables industrial robots to re-contour turbine blades via force controlled belt grinding.

scholarly journals Synthesis, Structure and Diffusion Pathways of Fast Lithium-Ion Conductors in the Polymorphs α- and β-Li8SnP4

2021 ◽  
Author(s):  
Thomas F Fässler ◽  
Stefan Strangmüller ◽  
Henrik Eickkhoff ◽  
Wilhelm Klein ◽  
Gabriele Raudaschl-Sieber ◽  
...  
Keyword(s):  
High Performance ◽  
Low Cost ◽  
Lithium Ion ◽  
Conducting Materials ◽  
Increasing Demand ◽  
Battery Technology ◽  
Lithium Ion Conductors ◽  
And Diffusion ◽  
Ion Conductors

The increasing demand for a high-performance and low-cost battery technology promotes the search for Li+-conducting materials. Recently, phosphidotetrelates and aluminates were introduced as an innovative class of phosphide-based Li+-conducting materials...

scholarly journals Reduction of Polycyclic Aromatic Hydrocarbons (PAHs) in Sesame Oil Using Cellulosic Aerogel

Foods ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 644
Author(s):  
Do-Yeong Kim ◽  
Boram Kim ◽  
Han-Seung Shin
Keyword(s):  
Polycyclic Aromatic Hydrocarbons ◽  
Aromatic Hydrocarbons ◽  
High Performance ◽  
Oil Quality ◽  
Acid Value ◽  
Quality Parameters ◽  
Sesame Oil ◽  
Miscanthus Sinensis ◽  
Polycyclic Aromatic ◽  
And Control

The effect of cellulosic aerogel treatments used for adsorption of four polycyclic aromatic hydrocarbons (PAHs)—benzo[a]anthracene, chrysene, benzo[b]fluoranthene, and benzo[a]pyrene [BaP])—generated during the manufacture of sesame oil was evaluated. In this study, eulalia (Miscanthus sinensis var. purpurascens)-based cellulosic aerogel (adsorbent) was prepared and used high performance liquid chromatography with fluorescence detection for determination of PAHs in sesame oil. In addition, changes in the sesame oil quality parameters (acid value, peroxide value, color, and fatty acid composition) following cellulosic aerogel treatment were also evaluated. The four PAHs and their total levels decreased in sesame oil samples roasted under different conditions (p < 0.05) following treatment with cellulosic aerogel. In particular, highly carcinogenic BaP was not detected after treatment with cellulosic aerogel. Moreover, there were no noticeable quality changes in the quality parameters between treated and control samples. It was concluded that eulalia-based cellulosic aerogel proved suitable for the reduction of PAHs from sesame oil and can be used as an eco-friendly adsorbent.

scholarly journals Human emotion modeling (HEM): an interface for IoT systems

2021 ◽  
Author(s):  
Mohammed R. Elkobaisi ◽  
Fadi Al Machot
Keyword(s):  
Assisted Living ◽  
High Performance ◽  
Modeling Language ◽  
Emotional States ◽  
Human Emotion ◽  
Care Givers ◽  
Novel Approach ◽  
Domain Specific Modeling ◽  
Increasing Demand ◽  
Human Support

AbstractThe use of IoT-based Emotion Recognition (ER) systems is in increasing demand in many domains such as active and assisted living (AAL), health care and industry. Combining the emotion and the context in a unified system could enhance the human support scope, but it is currently a challenging task due to the lack of a common interface that is capable to provide such a combination. In this sense, we aim at providing a novel approach based on a modeling language that can be used even by care-givers or non-experts to model human emotion w.r.t. context for human support services. The proposed modeling approach is based on Domain-Specific Modeling Language (DSML) which helps to integrate different IoT data sources in AAL environment. Consequently, it provides a conceptual support level related to the current emotional states of the observed subject. For the evaluation, we show the evaluation of the well-validated System Usability Score (SUS) to prove that the proposed modeling language achieves high performance in terms of usability and learn-ability metrics. Furthermore, we evaluate the performance at runtime of the model instantiation by measuring the execution time using well-known IoT services.

Advanced high-performance processing tools for diagnostics and control in fusion devices

2021 ◽  
Vol 170 ◽  
pp. 112529
Author(s):  
N. Cruz ◽  
A.J.N. Batista ◽  
J.M. Cardoso ◽  
B.B. Carvalho ◽  
P.F. Carvalho ◽  
...  
Keyword(s):  
High Performance ◽  
Diagnostics And Control ◽  
And Control

scholarly journals Detection of Antimicrobial Residues in Poultry Litter: Monitoring a Risk through a Selective and Sensitive HPLC–MS/MS Method

Animals ◽  
2021 ◽  
Vol 11 (5) ◽  
pp. 1399
Author(s):  
Karina Yévenes ◽  
Ekaterina Pokrant ◽  
Lina Trincado ◽  
Lisette Lapierre ◽  
Nicolás Galarce ◽  
...  
Keyword(s):  
High Performance ◽  
Limit Of Detection ◽  
Poultry Litter ◽  
Chromatography Tandem Mass Spectrometry ◽  
Antimicrobial Residues ◽  
Field Samples ◽  
Liquid Chromatography Tandem Mass ◽  
Commercial Poultry ◽  
Agriculture Fertilizer ◽  
And Control

Tetracyclines, sulphonamides, and quinolones are families of antimicrobials (AMs) widely used in the poultry industry and can excrete up to 90% of AMs administrated, which accumulate in poultry litter. Worryingly, poultry litter is widely used as an agriculture fertilizer, contributing to the spread AMs residues in the environment. The aim of this research was to develop a method that could simultaneously identify and quantify three AMs families in poultry litter by high-performance liquid chromatography–tandem mass spectrometry (HPLC–MS/MS). Samples of AMs free poultry litter were used to validate the method according to 657/2002/EC and VICH GL49. Results indicate that limit of detection (LOD) ranged from 8.95 to 20.86 μg kg−1, while limits of quantitation (LOQ) values were between 26.85 and 62.58 µg kg−1 of tetracycline, 4-epi-tetracycline, oxytetracycline, 4-epi-oxytetracycline, enrofloxacin, ciprofloxacin, flumequine, sulfachloropyridazine, and sulfadiazine. Recoveries obtained ranged from 93 to 108%. The analysis of field samples obtained from seven commercial poultry flocks confirmed the adequacy of the method since it detected means concentrations ranging from 20 to 10,364 μg kg−1. This provides us an accurate and reliable tool to monitor AMs residues in poultry litter and control its use as agricultural fertilizer.

scholarly journals A Novel Fast-Locking ADPLL Based on Bisection Method

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1382
Author(s):  
Xiaoying Deng ◽  
Huazhang Li ◽  
Mingcheng Zhu
Keyword(s):  
High Performance ◽  
Tuning Range ◽  
Frequency Control ◽  
Control Word ◽  
Cmos Process ◽  
Bisection Method ◽  
Reference Frequency ◽  
Wide Tuning Range ◽  
Cascade Structure ◽  
And Control

Based on the idea of bisection method, a new structure of All-Digital Phased-Locked Loop (ADPLL) with fast-locking is proposed. The structure and locking method are different from the traditional ADPLLs. The Control Circuit consists of frequency compare module, mode-adjust module and control module, which is responsible for adjusting the frequency control word of digital-controlled-oscillator (DCO) by Bisection method according to the result of the frequency compare between reference clock and restructure clock. With a high frequency cascade structure, the DCO achieves wide tuning range and high resolution. The proposed ADPLL was designed in SMIC 180 nm CMOS process. The measured results show a lock range of 640-to-1920 MHz with a 40 MHz reference frequency. The ADPLL core occupies 0.04 mm2, and the power consumption is 29.48 mW, with a 1.8 V supply. The longest locking time is 23 reference cycles, 575 ns, at 1.92 GHz. When the ADPLL operates at 1.28 GHz–1.6 GHz, the locking time is the shortest, only 9 reference cycles, 225 ns. Compared with the recent high-performance ADPLLs, our design shows advantages of small area, short locking time, and wide tuning range.

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