Dynamics and Motion Control of a 6-DOF Robot Manipulator

2012 ◽  
Author(s):  
Carlos Mondragon ◽  
Reza Fotouhi
Keyword(s):  
Free Path ◽  
Robot Manipulator ◽  
Research Work ◽  
Robotic Arm ◽  
Medical Settings ◽  
Wide Range ◽  
Pick And Place ◽  
Stationary Objects ◽  
Simulation Results ◽  
Six Degree Of Freedom

This research work is to control motion of a manipulator attached to a mobile robot for pick-and-place operations; this is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. In this paper a strategy to accomplish pick-and-place operations, using a six degree-of-freedom robotic arm, is presented. Such operations are completed by creating a collision-free path to move an object from an initial to a final position. The collision-free path is planned by considering the entire workspace of the manipulator. The workspace is defined as the subtraction of the stationary objects and the robot volumes from all of the possible reachable points of the robotic arm. Once the path is planned, the kinematics of the manipulator is considered. Although this project can be applied into a wide range of applications, it is mainly intended to be used for medical robotic assistance. Simulation results for several different paths are presented. The simulation results were verified with experimental results, although not shown here.

Simulation of 8-Degrees of Freedom Based Bio-Inspired Humanoid Robotic Arm Using MATLAB/ADAMS Co-Simulation Environment

2015 ◽  
Vol 799-800 ◽  
pp. 1054-1057 ◽  
Author(s):  
Jayabalan Sudharsan ◽  
L. Karunamoorthy
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Learning Algorithm ◽  
Dynamic Control ◽  
Research Work ◽  
Robotic Arm ◽  
Programming Environment ◽  
Simulation Environment ◽  
Simulation Results ◽  
Matlab Programming

This research work presents a dynamic control of a 8 – Degrees of freedom (DOF) based bio-inspired humanoid robotic arm which was simulated using MATLAB / Adams Co-Simulation environment. The robotic arm has been modeled using PRO-E and its invoked in ADAMS and Controlled by MATLAB programming environment. With the help of the simulation results, parameters like torque, position, etc of the system have been analyzed for various trajectories or path of the robot and the results have been discussed in detail. This research work is part of a real time humanoid robot project titled – RALA (Robot based on Autonomous Learning Algorithm).

scholarly journals Low Cost Computer Vision based Shape Detection in Textile Industries with Robotic Arm

2019 ◽  
Vol 9 (1) ◽  
pp. 5311-5314
Keyword(s):  
Low Cost ◽  
Conveyor Belt ◽  
Robotic Arm ◽  
Raspberry Pi ◽  
Automation System ◽  
Detection Techniques ◽  
Pick And Place ◽  
Simulation Results ◽  
Textile Industries ◽  
Being Moved

This paper presents low cost automation system for textile industries where colour and shape are detected along with pick and place robotic arm. Edge detection techniques and Contour approximation algorithmare used for pattern detection.The main goal is to count the number of samples of each pattern or shapes. This system makes use of raspberry pi with a PI camera. The PI cam is used for capturing the image of the textiles being moved on a conveyor belt. The system is programmed using open CV platform. The simulation results using OpenCV environment coded with Python are presented

Kinematics and Path Planning of a Six-Degrees-of-Freedom Robot Manipulator

2013 ◽  
Author(s):  
Carlos Mondragon ◽  
Reza Fotouhi
Keyword(s):  
Path Planning ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Geometric Characteristic ◽  
Research Work ◽  
Six Degrees Of Freedom ◽  
Pick And Place ◽  
Common Plane ◽  
Planning Algorithm

This paper introduces a strategy to accomplish pick-and-place operations for a six-degrees-of-freedom (6-DOF) robotic arm attached to a wheeled mobile robot. This research work is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. The significance of this project relies on the increasing demand for elderly and disabled skilled care assistance which nowadays has become insufficient. Several methods were implemented to make a 6-DOF manipulator capable of performing pick-and-place operations. This paper presents an approach for solving the inverse kinematics problem and planning collision-free paths. An Iterative Inverse Kinematics method (IIK) was introduced to find multiple configurations for the manipulator along a given path. The IIK method takes advantage of a specific geometric characteristic of the manipulator, in which several joints share a common plane. Ten different scenarios with different number and pattern of obstacles were used to verify the efficiency of a path planning algorithm introduced here. Other methods, also implemented in the current project, which describe the manipulator and its capabilities, are presented elsewhere [1]. Overall results confirmed the efficiency of the implemented methods for performing pick-and-place operations for a 6-DOF manipulator.

scholarly journals Modelling and Design of State Estimator for a Pick and Place Robotic Arm

2021 ◽  
Vol 6 (4) ◽  
Author(s):  
Khalid K. Dandago ◽  
Ameer Mohammed ◽  
Osichinaka C. Ubadike ◽  
Mahmud S. Zango ◽  
Abdulbasit Hassan ◽  
...  
Keyword(s):  
Research Work ◽  
Industrial Applications ◽  
The State ◽  
Robotic Arm ◽  
Good Representation ◽  
State Estimator ◽  
Robust Model ◽  
State Estimators ◽  
Pick And Place ◽  
Identification Technique

A robust model is essential for the design of system components such as controllers, observers state estimators, and simulators. State estimators are becoming increasingly important in modern systems, especially systems with states that may not be measured with sensors. Therefore, it is imperative to analyze the performance of different modelling and state estimator design techniques. In this research work, a parametric model of a pick and place robotic arm was obtained using system identification technique. Pick and place robotic arms have a lot of industrial applications. The parameters of the obtained model were determined using the general second-order characteristics equation and manual tuning. Furthermore, five state estimators were designed based on the developed model. The accuracy of the model, and the performance of the observers were analyzed. The model was found to provide a good representation of the system. Nonetheless, with very small divergence between the model and the real system. The performance of the observers was found to be dependent on their pole locations; the higher the magnitude of the poles, the higher the state estimators’ gain and the better the estimation provided. It was found out that the state estimators with high gains were more susceptible to measurement noise. Keywords— Modelling, pick and place robots, observers, and state estimators.

Justification of the need to improve the legal, regulatory and methodological framework for the spread of parasitic infections in the provision of medical care

2020 ◽  
Vol 99 (5) ◽  
pp. 493-497
Author(s):  
M. M. Aslanova ◽  
T. V. Gololobova ◽  
K. Yu. Kuznetsova ◽  
Tamari R. Maniya ◽  
D. V. Rakitina ◽  
...  
Keyword(s):  
Medical Care ◽  
Research Work ◽  
Hospital Environment ◽  
Parasitic Infections ◽  
Infusion Therapy ◽  
Methodological Framework ◽  
Production Environment ◽  
Medical Institutions ◽  
Medical Network ◽  
Wide Range

Introduction. The purpose of our work was to justify the need to improve the legislative, regulatory and methodological framework and preventative measures in relation to the spread of parasitic infections in the provision of medical care. There is a wide range of pathogens of parasitic infestations that are transmitted to humans through various medical manipulations and interventions carried out in various medical institutions. Contaminated care items and furnishings, medical instruments and equipment, solutions for infusion therapy, medical personnel’s clothing and hands, reusable medical products, drinking water, bedding, suture and dressing materials can serve as a major factor in the spread of parasitic infections in the provision of medical care. Purpose of research is the study of the structure and SMP of parasitic origin, circulating on the objects of the production environment in multi-profile medical and preventive institutions of stationary type in order to prevent the occurrence of their spread within medical institutions. Material and methods. The material for the study was flushes taken from the production environment in 3 multi-profile treatment and prevention institutions of inpatient type: a multi-specialty hospital, a maternity hospital and a hospital specializing in the treatment of patients with intestinal diseases for the eggs of worms and cysts of pathogenic protozoa. Results. During the 2-year monitoring of medical preventive institutions, a landscape of parasitic contamination was found to be obtained from the flushes taken from the production environment objects in the premises surveyed as part of the research work. Discussions. In the course of research, the risk of developing ISMP of parasitic origin was found to be determined by the degree of epidemiological safety of the hospital environment, the number and invasiveness of treatment and diagnostic manipulations and various medical technologies. Conclusion. It is necessary to conduct an expert assessment of regulatory and methodological documents in the field of epidemiological surveillance and sanitary and hygienic measures for the prevention of medical aid related infections of parasitic origin, to optimize the regulatory and methodological base, to develop a number of preventive measures aimed at stopping the spread of parasitic infections in the medical network.

QoS aware Multi-Path Routing using Link Scheduling Algorithm

2019 ◽  
Vol 09 ◽  
Author(s):  
Satyasrikanth Palle ◽  
Shivashankar
Keyword(s):  
Cellular Networks ◽  
Scheduling Algorithm ◽  
Research Work ◽  
Scheduling Algorithms ◽  
Turnaround Time ◽  
Link Scheduling ◽  
Spatial Reuse ◽  
Mobile Cellular ◽  
Simulation Results ◽  
End To End

Objective: The demand for Cellular based multimedia services is growing day by day, in order to fulfill such demand the present day cellular networks needs to be upgraded to support excessive capacity calls along with high data accessibility. Analysis of traffic and huge network size could become very challenging issue for the network operators for scheduling the available bandwidth between different users. In the proposed work a novel QoS Aware Multi Path scheduling algorithm for smooth CAC in wireless mobile networks. The performance of the proposed algorithm is assessed and compared with existing scheduling algorithms. The simulation results show that the proposed algorithm outperforms existing CAC algorithms in terms of throughput and delay. The CAC algorithm with scheduling increases end-to-end throughput and decreases end-to-end delay. Methods: The key idea to implement the proposed research work is to adopt spatial reuse concept of wireless sensor networks to mobile cellular networks. Spatial reusability enhances channel reuse when the node pairs are far away and distant. When Src and node b are communicating with each other, the other nodes in the discovered path should be idle without utilizing the channel. Instead the other nodes are able to communicate parallelly the end-to-end throughput can be improved with acceptable delay. Incorporating link scheduling algorithms to this key concept further enhances the end-to-end throughput with in the turnaround time. So, in this research work we have applied spatial reuse concept along with link scheduling algorithm to enhance end-to-end throughput with in turnaround time. The proposed algorithm not only ensures that a connection gets the required bandwidth at each mobile node on its way by scheduling required slots to meet the QoS requirements. By considering the bandwidth requirement of the mobile connections, the CAC module at the BS not only considers the bandwidth requirement but also conforming the constrains of system dealy and jitter are met. Result: To verify the feasibility and effectiveness of our proposed work, with respect to scheduling the simulation results clearly shows the throughput improvement with Call Admission Control. The number of dropped calls is significantly less and successful calls are more with CAC. The percentage of dropped calls is reduced by 9 % and successful calls are improved by 91%. The simulation is also conducted on time constraint and ratio of dropped calls are shown. The total time taken to forward the packets and the ration of dropped calls is less when compared to non CAC. On a whole the CAC with scheduling algorithms out performs existing scheduling algorithms. Conclusion: In this research work we have proposed a novel QoS aware scheduling algorithm that provides QoS in Wireless Cellular Networks using Call Admission Control (CAC). The simulation results show that the end-to-end throughput has been increased by 91% when CAC is used. The proposed algorithm is also compared with existing link scheduling algorithms. The results reveal that CAC with scheduling algorithm can be used in Mobile Cellular Networks in order to reduce packet drop ratio. The algorithm is also used to send the packets within acceptable delay.

Development and Evaluation of Sustained Release Lipid Nanocarriers for Curcumin

2020 ◽  
Vol 5 (3) ◽  
pp. 224-235
Author(s):  
Harshal A. Pawar ◽  
Bhagyashree D. Bhangale
Keyword(s):  
Drug Delivery ◽  
Sustained Release ◽  
Drug Delivery Systems ◽  
Biological Activities ◽  
Curcuma Longa ◽  
Research Work ◽  
Elimination Rate ◽  
Delivery Systems ◽  
Physicochemical Stability ◽  
Wide Range

Background: Lipid based excipients have increased acceptance nowadays in the development of novel drug delivery systems in order to improve their pharmacokinetic profiles. Drugs encapsulated in lipids have enhanced stability due to the protection they experience in the lipid core of these nano-formulations. Phytosomes are newly discovered drug delivery systems and novel botanical formulation to produce lipophilic molecular complex which imparts stability, increases absorption and bioavailability of phytoconstituent. Curcumin, obtained from turmeric (Curcuma longa), has a wide range of biological activities. The poor solubility and wettability of curcumin are responsible for poor dissolution and this, in turn, results in poor bioavailability. To overcome these limitations, the curcumin-loaded nano phytosomes were developed to improve its physicochemical stability and bioavailability. Objective: The objective of the present research work was to develop nano-phytosomes of curcumin to improve its physicochemical stability and bioavailability. Methods: Curcumin-loaded nano phytosomes were prepared by using phospholipid Phospholipon 90 H using a modified solvent evaporation method. The developed curcumin nano phytosomes were evaluated by particle size analyzer and differential scanning calorimetry (DSC). Results: Results indicated that phytosomes prepared using curcumin and lipid in the ratio of 1:2 show good entrapment efficiency. The obtained curcumin phytosomes were spherical in shape with a size less than 100 nm. The prepared nano phytosomal formulation of curcumin showed promising potential as an antioxidant. Conclusion: The phytosomal complex showed sustained release of curcumin from vesicles. The sustained release of curcumin from phytosome may improve its absorption and lowers the elimination rate with an increase in bioavailability.

ESRC Review

2020 ◽  
pp. 657-698
Author(s):  
Simeon J. Yates ◽  
Jordana Blejmar
Keyword(s):  
Social Research ◽  
Social Science Research ◽  
Research Work ◽  
Science Research ◽  
Wide Range ◽  
The Us ◽  
Levels Of Automation ◽  
The Uk ◽  
Technological World ◽  
Ways Of Being

Two workshops were part of the final steps in the Economic and Social Research Council (ESRC) commissioned Ways of Being in a Digital Age project that is the basis for this Handbook. The ESRC project team coordinated one with the UK Defence Science and Technology Laboratory (ESRC-DSTL) Workshop, “The automation of future roles”; and one with the US National Science Foundation (ESRC-NSF) Workshop, “Changing work, changing lives in the new technological world.” Both workshops sought to explore the key future social science research questions arising for ever greater levels of automation, use of artificial intelligence, and the augmentation of human activity. Participants represented a wide range of disciplinary, professional, government, and nonprofit expertise. This chapter summarizes the separate and then integrated results. First, it summarizes the central social and economic context, the method and project context, and some basic definitional issues. It then identifies 11 priority areas needing further research work that emerged from the intense interactions, discussions, debates, clustering analyses, and integration activities during and after the two workshops. Throughout, it summarizes how subcategories of issues within each cluster relate to central issues (e.g., from users to global to methods) and levels of impacts (from wider social to community and organizational to individual experiences and understandings). Subsections briefly describe each of these 11 areas and their cross-cutting issues and levels. Finally, it provides a detailed Appendix of all the areas, subareas, and their specific questions.

scholarly journals Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

2021 ◽  
Vol 11 (12) ◽  
pp. 5398
Author(s):  
Tomáš Kot ◽  
Zdenko Bobovský ◽  
Aleš Vysocký ◽  
Václav Krys ◽  
Jakub Šafařík ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Dynamic Simulation ◽  
Robot Manipulator ◽  
The Other ◽  
Robotic Arm ◽  
Robotic Cell ◽  
Wear Reduction ◽  
Fixed End ◽  
Robot Placement ◽  
Collaborative Robot

We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.

scholarly journals Stability and Manoeuvrability Simulation of a Semi-Autonomous Submarine Free-Running Model SUBOFF with an Autopilot System

2021 ◽  
Vol 11 (1) ◽  
pp. 410
Author(s):  
Yu-Hsien Lin ◽  
Yu-Ting Lin ◽  
Yen-Jun Chiu
Keyword(s):  
Optimal Control ◽  
Experimental Tests ◽  
Degree Of Freedom ◽  
Line Of Sight ◽  
Pd Controller ◽  
Free Running ◽  
Simulation Results ◽  
Guidance Algorithm ◽  
Logic Operations ◽  
Six Degree Of Freedom

On the basis of a full-appendage DARPA SUBOFF model (DTRC model 5470), a scale (λ = 0.535) semi-autonomous submarine free-running model (SFRM) was designed for testing its manoeuvrability and stability in the constrained water. Prior to the experimental tests of the SFRM, a six-degree-of-freedom (6-DOF) manoeuvre model with an autopilot system was developed by using logic operations in MATLAB. The SFRM’s attitude and its trim polygon were presented by coping with the changes in mass and trimming moment. By adopting a series of manoeuvring tests in empty tanks, the performances of the SFRM were introduced in cases of three sailing speeds. In addition, the PD controller was established by considering the simulation results of these manoeuvring tests. The optimal control gains with respect to each manoeuvring test can be calculated by using the PID tuner in MATLAB. Two sets of control gains derived from the optimal characteristics parameters were compared in order to decide on the most appropriate PD controller with the line-of-sight (LOS) guidance algorithm for the SFRM in the autopilot simulation. Eventually, the simulated trajectories and course angles of the SFRM would be illustrated in the post-processor based on the Cinema 4D modelling.

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