scholarly journals A Robotic System to Scan and Reproduce Object

2011 ◽  
Vol 2011 ◽  
pp. 1-11
Author(s):  
Cesare Rossi ◽  
Sergio Savino
Keyword(s):  
High Speed ◽  
Mechanical Engineering ◽  
Vision System ◽  
Laser Scanner ◽  
Robotic System ◽  
Robot Arm ◽  
End Effector ◽  
Laser Projector ◽  
Cloud Of Points ◽  
Linear Laser

An application of a robotic system integrated with a vision system is presented. The robot is a 3-axis revolute prototype, while the vision system essentially consists in a laser scanner made up of a camera and a linear laser projector. Both the robotic and the video system were designed and built at DIME (Department of Mechanical Engineering for Energetics), University of Naples Federico II. The presented application essentially consists of a laser scanner that is installed on the robot arm; the scanner scans a 3D surface, and the data are converted in a cloud of points in the robot’s workspace. Then, starting from those points, the end-effector trajectories adopted to replicate the scanned surface are calculated; so, the same robot, by using a tool, can reproduce the scanned object. The software was developed also at the DIME. The adopted tool was a high-speed drill, installed on the last link of the robot arm, with a spherical milling cutter in order to obtain enough accurate surfaces by the data represented by the cloud of points. An algorithm to interpolate the paths and to plan the trajectories was also developed and successfully tested.

Tracking and Catching of an In-Flight Ring using a High-Speed Vision System and a Robot Arm

2021 ◽  
Author(s):  
Xiao Liang ◽  
Hairui Zhu ◽  
YanLong Chen ◽  
Yuji Yamakawa
Keyword(s):  
High Speed ◽  
Vision System ◽  
Robot Arm

Human-Robot Interaction Controller Based on CMOS Stereo Vision and FPGA Chip

2009 ◽  
Vol 147-149 ◽  
pp. 243-250
Author(s):  
Shiuh Jer Huang ◽  
Chie Yi Wu
Keyword(s):  
Stereo Vision ◽  
Sliding Mode ◽  
Vision System ◽  
Low Cost ◽  
Robotic System ◽  
Human Robot Interaction ◽  
Robot Arm ◽  
Visual Servo ◽  
Position Information ◽  
Fpga Chip

A stereo visual servo robotic system is developed on Nios II SOPC developing board with ALTERA FPGA chip to manipulate a retrofitted Mitsubishi RV-M2 robotic system. The 3-D position information between the target and stereo vision system can be extracted by low cost CMOS stereo vision algorithm first. Then, the relative motion between the robotic end-effector and the target can be planned to guide robot arm to catch the object. The fuzzy sliding mode control algorithm is employed to monitor the trajectory motion of each joint. The experimental results show that this visual servo robotic system can track and catch a moving target in 3D space and execute some interaction functions with player.

scholarly journals Conceptual Design of a High-Speed Wire EDM Robotic End-Effector Based on a Systematic Review Followed by TRIZ

Machines ◽  
2021 ◽  
Vol 9 (7) ◽  
pp. 132
Author(s):  
Sergio Tadeu Almeida ◽  
John Mo ◽  
Cees Bil ◽  
Songlin Ding ◽  
Xiangzhi Wang
Keyword(s):  
High Speed ◽  
Dimensional Accuracy ◽  
Research Field ◽  
Industrial Robots ◽  
Cnc Machining ◽  
Surface Finishing ◽  
Robot Arm ◽  
Technical Problems ◽  
End Effector ◽  
Robotic Machining

Exotic materials such as titanium offer superior characteristics that, paradoxically, make them hard-to-cut by conventional machining. As a solution, electric discharge machining (EDM) stands out as a non-conventional process able to cut complex profiles from hard-to-cut materials, delivering dimensional accuracy and a superior surface. However, EDM is embodied in CNC machines with a reduced axis and machining envelope, which constrains design freedom in terms of size and shape. To overcome these CNC constraints, traditional machining using six-axis industrial robots have become a prominent research field, and some applications have achieved cost efficiency, an improved envelope, and high flexibility. However, due to the lack of stiffness and strength of the robot arm, accuracy, material rate removal, and surface finishing are not comparable to CNC machining. Therefore, the present study investigates the design of a novel WEDM combined with six-axis robotic machining to overcome the limitations of traditional robotic machining and enhance EDM applications. This study extends the work of a conference paper to confirm potential outcomes, quantifying and ranking undesired interactions to map technical problems and applying the TRIZ approach to trigger solutions. Finally, an effective robotic end-effector design is proposed to free EDM from CNC and deliver robotic machining as a flexible and accurate machining system for exotic materials.

Design of a Crop Harvesting End Effector for the Robotic System used in the NASA JSC Biomass Production Chamber

2003 ◽  
Author(s):  
Neil Duffie ◽  
Weijia Zhou ◽  
Erick Oberstar ◽  
Martin Kornfeld ◽  
Wolfgang Ptacek
Keyword(s):  
Biomass Production ◽  
Robotic System ◽  
End Effector

Three-Degree-of-Freedom Parallel Robot Arm

2006 ◽  
Author(s):  
Martin Hosek ◽  
Michael Valasek ◽  
Jairo Moura
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Angular Orientation ◽  
Robot Arm ◽  
Flat Panel Display ◽  
End Effector ◽  
Cluster Tools ◽  
Manufacturing Applications ◽  
Three Degree Of Freedom

This paper presents single- and dual-end-effector configurations of a planar three-degree of freedom parallel robot arm designed for automated pick-place operations in vacuum cluster tools for semiconductor and flat-panel-display manufacturing applications. The basic single end-effector configuration of the arm consists of a pivoting base platform, two elbow platforms and a wrist platform, which are connected through two symmetric pairs of parallelogram mechanisms. The wrist platform carries an end-effector, the position and angular orientation of which can be controlled independently by three motors located at the base of the robot. The joints and links of the mechanism are arranged in a unique geometric configuration which provides a sufficient range of motion for typical vacuum cluster tools. The geometric properties of the mechanism are further optimized for a given motion path of the robot. In addition to the basic symmetric single end-effector configuration, an asymmetric costeffective version of the mechanism is derived, and two dual-end-effector alternatives for improved throughput performance are described. In contrast to prior attempts to control angular orientation of the end-effector(s) of the conventional arms employed currently in vacuum cluster tools, all of the motors that drive the arm can be located at the stationary base of the robot with no need for joint actuators carried by the arm or complicated belt arrangements running through the arm. As a result, the motors do not contribute to the mass and inertia properties of the moving parts of the arm, no power and signal wires through the arm are necessary, the reliability and maintenance aspects of operation are improved, and the level of undesirable particle generation is reduced. This is particularly beneficial for high-throughput applications in vacuum and particlesensitive environments.

Based on the CO2 Gas Shielded Welding Molten Pool Image Edge Detection Algorithm

2013 ◽  
Vol 437 ◽  
pp. 840-844 ◽  
Author(s):  
Xiao Gang Liu ◽  
Bing Zhao
Keyword(s):  
Edge Detection ◽  
Molten Pool ◽  
High Speed ◽  
Vision System ◽  
Detection Algorithm ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass ◽  
Defect Recognition ◽  
Pool Image

This paper use the passive vision system through high-speed camera collects molten pool images; and then according to the frequency domain characteristics of the weld pool image Butterworth low-pass filter; gradient method for image enhancement obtained after pretreatment. Research Roberts, Sobel, Prewitt, Log, Zerocross, and Canny 6 both traditional differential operator edge detection processing results. Through comparison and analysis of choosing threshold for [0.1, 0. Canny operator can get the ideal molten pool edge character, for subsequent welding molten pool defect recognition provides favorable conditions.

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

DEVELOPMENT OF AN ARTICULATION ROBOT ARM

2017 ◽  
Vol 41 (3) ◽  
pp. 443-455
Author(s):  
Kuo-Lan Su ◽  
Jian-Fu Weng ◽  
Jr-Hung Guo ◽  
Kai-Lu Cai
Keyword(s):  
Control System ◽  
Vision System ◽  
Motion Trajectory ◽  
Robot Arm ◽  
Plc Control ◽  
Plc Control System

This article describes the design of an articulation robot arm with seven joints. The control core of the robot arm is the module-based system built using the Mitsubishi Q series programming logical controller (PLC). The robot arm contains seven AC servomotors, seven driver devices, a vision system and a PLC control system. The PLC-based controller programs the motion trajectory of the gripper to catch or hold the objects and finish the assigned tasks. Kinect system (Asus Xtion Pro-Live, or called RGB-D sensor) acts as the vision system to recognize shape and color of each object. During the experiments, we found that the robot arm recognizes the shape and color of each object, and catches each object moving to the assigned box with the same color.

Surface void suppression for pure copper by high-speed laser scanner welding

2017 ◽  
Vol 240 ◽  
pp. 52-59 ◽  
Author(s):  
Masanori Miyagi ◽  
Xudong Zhang ◽  
Yousuke Kawahito ◽  
Seiji Katayama
Keyword(s):  
High Speed ◽  
Pure Copper ◽  
Laser Scanner
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