Plant-Limited Co-Design of an Energy-Efficient Counterbalanced Robotic Manipulator

2012 ◽  
Author(s):  
James T. Allison
Keyword(s):  
System Design ◽  
Physical System ◽  
Control Design ◽  
Robotic Manipulator ◽  
Plant Design ◽  
Design Modification ◽  
Baseline Design ◽  
Design Changes ◽  
Pick And Place ◽  
Place Task

Modifying the design of an existing system to meet the needs of a new task is a common activity in mechatronic system development. Often engineers seek to meet requirements for the new task via control design changes alone, but in many cases new requirements are impossible to meet using control design only; physical system design modifications must be considered. Plant-Limited Co-Design (PLCD) is a design methodology for meeting new requirements at minimum cost through limited physical system (plant) design changes in concert with control system redesign. The most influential plant changes are identified to narrow the set of candidate plant changes. PLCD provides quantitative evidence to support strategic plant design modification decisions, including tradeoff analyses of redesign cost and requirement violation. In this article the design of a counterbalanced robotic manipulator is used to illustrate successful PLCD application. A baseline system design is obtained that exploits synergy between manipulator passive dynamics and control to minimize energy consumption for a specific pick-and-place task. The baseline design cannot meet requirements for a second pick-and-place task through control design changes alone. A limited set of plant design changes is identified using sensitivity analysis, and the PLCD result meets the new requirements at a cost significantly less than complete system redesign.

Plant-Limited Co-Design of an Energy-Efficient Counterbalanced Robotic Manipulator

2013 ◽  
Vol 135 (10) ◽  
Author(s):  
James T. Allison
Keyword(s):  
System Design ◽  
Physical System ◽  
Control Design ◽  
Robotic Manipulator ◽  
Plant Design ◽  
Design Modification ◽  
Baseline Design ◽  
Design Changes ◽  
Pick And Place ◽  
Place Task

Modifying the design of an existing system to meet the needs of a new task is a common activity in mechatronic system development. Often, engineers seek to meet requirements for the new task via control design changes alone, but in many cases new requirements are impossible to meet using control design only; physical system design modifications must be considered. Plant-limited co-design (PLCD) is a design methodology for meeting new requirements at minimum cost through limited physical system (plant) design changes in concert with control system redesign. The most influential plant changes are identified to narrow the set of candidate plant changes. PLCD provides quantitative evidence to support strategic plant design modification decisions, including tradeoff analyses of redesign cost and requirement violation. In this article the design of a counterbalanced robotic manipulator is used to illustrate successful PLCD application. A baseline system design is obtained that exploits synergy between manipulator passive dynamics and control to minimize energy consumption for a specific pick-and-place task. The baseline design cannot meet requirements for a second pick-and-place task through control design changes alone. A limited set of plant design changes is identified using sensitivity analysis, and the PLCD result meets the new requirements at a cost significantly less than complete system redesign.

scholarly journals Failure Handling of Robotic Pick and Place Tasks With Multimodal Cues Under Partial Object Occlusion

2021 ◽  
Vol 15 ◽  
Author(s):  
Fan Zhu ◽  
Liangliang Wang ◽  
Yilin Wen ◽  
Lei Yang ◽  
Jia Pan ◽  
...  
Keyword(s):  
Visual Cues ◽  
Failure Detection ◽  
Robotic Manipulator ◽  
Open Loop ◽  
System Control ◽  
Grasp Planning ◽  
Loop Control ◽  
Failure Handling ◽  
Pick And Place ◽  
Place Task

The success of a robotic pick and place task depends on the success of the entire procedure: from the grasp planning phase, to the grasp establishment phase, then the lifting and moving phase, and finally the releasing and placing phase. Being able to detect and recover from grasping failures throughout the entire process is therefore a critical requirement for both the robotic manipulator and the gripper, especially when considering the almost inevitable object occlusion by the gripper itself during the robotic pick and place task. With the rapid rising of soft grippers, which rely heavily on their under-actuated body and compliant, open-loop control, less information is available from the gripper for effective overall system control. Tackling on the effectiveness of robotic grasping, this work proposes a hybrid policy by combining visual cues and proprioception of our gripper for the effective failure detection and recovery in grasping, especially using a proprioceptive self-developed soft robotic gripper that is capable of contact sensing. We solved failure handling of robotic pick and place tasks and proposed (1) more accurate pose estimation of a known object by considering the edge-based cost besides the image-based cost; (2) robust object tracking techniques that work even when the object is partially occluded in the system and achieve mean overlap precision up to 80%; (3) contact and contact loss detection between the object and the gripper by analyzing internal pressure signals of our gripper; (4) robust failure handling with the combination of visual cues under partial occlusion and proprioceptive cues from our soft gripper to effectively detect and recover from different accidental grasping failures. The proposed system was experimentally validated with the proprioceptive soft robotic gripper mounted on a collaborative robotic manipulator, and a consumer-grade RGB camera, showing that combining visual cues and proprioception from our soft actuator robotic gripper was effective in improving the detection and recovery from the major grasping failures in different stages for the compliant and robust grasping.

A Wearable Interface for Intuitive Control of Robotic Manipulators Without User Training

2014 ◽  
Author(s):  
Vinicius B. P. Fernandes ◽  
Jared A. Frank ◽  
Vikram Kapila
Keyword(s):  
Low Cost ◽  
Arm Movements ◽  
Robotic Manipulator ◽  
User Training ◽  
Game Controller ◽  
Pick And Place ◽  
Place Task ◽  
Kinematic Models ◽  
Wearable Interface ◽  
Alternative Interfaces

This paper describes the development of a wearable interface that exploits the user’s natural arm movements to intuitively control a robotic manipulator. The design is intended to alleviate the time and effort spent in operating the robotic manipulator, regardless of the age and technological experience of the user. The interface is made to be low-cost, comfortably worn, and easy to put on and remove. Kinematic models of human and robot arms are used to produce a natural mapping from the user’s arm movements to the commanded movements of the robotic manipulator. An experiment is conducted with 30 participants of varied ages and experience to assess the usability of the wearable interface. Each of the participants is assigned to perform a pick and place task using two of three different interfaces (the wearable interface, a game controller, and a mobile interface running on a tablet computer) for a total of 60 trials. The results of the study show that the wearable interface is easier to learn compared to the alternative interfaces and is chosen as the preferred interface by the participants. Performance data shows that the users complete the pick and place task faster with the wearable interface than with the alternative interfaces.

Stochastic Assume-Guarantee Contracts for Cyber-Physical System Design

2019 ◽  
Vol 18 (1) ◽  
pp. 1-26 ◽  
Author(s):  
Pierluigi Nuzzo ◽  
Jiwei Li ◽  
Alberto L. Sangiovanni-Vincentelli ◽  
Yugeng Xi ◽  
Dewei Li
Keyword(s):  
System Design ◽  
Physical System ◽  
Cyber Physical System

scholarly journals Multimodal Mixed Reality Impact on a Hand Guiding Task with a Holographic Cobot

2020 ◽  
Vol 4 (4) ◽  
pp. 78
Author(s):  
Andoni Rivera Pinto ◽  
Johan Kildal ◽  
Elena Lazkano
Keyword(s):  
Augmented Reality ◽  
Industrial Production ◽  
User Study ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Robot Arm ◽  
Pick And Place ◽  
Place Task ◽  
Guidance Technique ◽  
The Impact

In the context of industrial production, a worker that wants to program a robot using the hand-guidance technique needs that the robot is available to be programmed and not in operation. This means that production with that robot is stopped during that time. A way around this constraint is to perform the same manual guidance steps on a holographic representation of the digital twin of the robot, using augmented reality technologies. However, this presents the limitation of a lack of tangibility of the visual holograms that the user tries to grab. We present an interface in which some of the tangibility is provided through ultrasound-based mid-air haptics actuation. We report a user study that evaluates the impact that the presence of such haptic feedback may have on a pick-and-place task of the wrist of a holographic robot arm which we found to be beneficial.

Towards self-predicting systems: What if you could ask ‘what-if’?

2006 ◽  
Vol 21 (3) ◽  
pp. 261-267 ◽  
Author(s):  
ENO THERESKA ◽  
DUSHYANTH NARAYANAN ◽  
GREGORY R. GANGER
Keyword(s):  
System Design ◽  
Large System ◽  
System Management ◽  
System Behavior ◽  
Search Problems ◽  
Interactive Exploration ◽  
Design Changes ◽  
Rules Of Thumb ◽  
System Changes ◽  
Management Problems

Today, management and tuning questions are approached using if… then… rules of thumb. This reactive approach requires expertise regarding system behavior, making it difficult to deal with unforeseen uses of a system’s resources and leading to system unpredictability and large system management overheads. We propose a What…if… approach that allows interactive exploration of the effects of system changes, thus converting complex tuning problem into simpler search problems. Through two concrete management problems, automating system upgrades and deciding on service migrations, we identify system design changes that enable a system to answer What…if… questions about itself.

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