scholarly journals Reconfigurable Articulated Robot Using Android Mobile Device

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
A.H. Rajpar ◽  
Ahmad. E. Eladwi ◽  
Imran Ali ◽  
Mohamed Bashir Ali Bashir
Keyword(s):  
Pulse Width Modulation ◽  
Integrated System ◽  
Modulation Method ◽  
Manual Control ◽  
Discussion Section ◽  
Pick And Place ◽  
Place Task ◽  
Articulated Robot ◽  
Three Degree Of Freedom ◽  
User Friendly

This paper focuses on the design and development of a reconfigurable three-degree-of-freedom articulated robot for conducting pick-and-place tasks. To implement the system, an Android platform for the manual control of an articulated robot using wireless Bluetooth technology was developed. This application allows the user to manually reconfigure the robot following the requirements of the integrated system via a user-friendly display. The articulated robot comprises four motors, three of which are used for positioning and orientation and finally used to carry out the pick-and-place task. An Arduino Un R3 board is used to control the movement of the links via a pulse width modulation method. We introduce a set of conveniently composed kinematic and dynamic mathematical models for positioning the robot’s arms and, in our results and discussion section, calculate and report the torque required to move each joint.

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.

Application of Slipped-Window Integrator and Repetitive Predictor in APF

2014 ◽  
Vol 556-562 ◽  
pp. 3585-3589
Author(s):  
Meng Qiong Wang ◽  
Chun Yu Xu
Keyword(s):  
Tracking Control ◽  
Pulse Width Modulation ◽  
Time Lag ◽  
Active Power Filter ◽  
Active Power ◽  
Modulation Method ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Power Filter ◽  
Low Pass

In view of the shortages time lag existing in traditional digital low-pass filter in Active Power Filter (Active Power Filter, APF), this paper proposes to adopt slipped-window integrator to realize low-pass filter in harmonic current detection.The current tracking control uses Space Vector Pulse Width Modulation method. Meanwhile, the repetitive predictor is applied so as to improve the real-time performance of the compensation current tracking control. Built a three-phase shunt active power filter simulation model in Matlab/Simulink environment and take experiment under the low pressure condition. The results show that slipped-window integrator and deadbeat current mothod can acquire good dynamic response performance as well as high precision.

scholarly journals Queuing theory based part-flow estimation in a pick-and-place task with a multi-robot system

2018 ◽  
Vol 12 (2) ◽  
pp. JAMDSM0061-JAMDSM0061
Author(s):  
Yanjiang HUANG ◽  
Ryosuke CHIBA ◽  
Tamio ARAI ◽  
Tsuyoshi UEYAMA ◽  
Xianmin ZHANG ◽  
...  
Keyword(s):  
Queuing Theory ◽  
Robot System ◽  
Flow Estimation ◽  
Pick And Place ◽  
Place Task ◽  
Multi Robot

Analytical and Experimental Predictor-Based Time Delay Control of Baxter Robot

2018 ◽  
Author(s):  
Mostafa Bagheri ◽  
Miroslav Krstić ◽  
Peiman Naseradinmousavi
Keyword(s):  
Time Delay ◽  
Time Delays ◽  
Input Delay ◽  
Delay Systems ◽  
Engineering Systems ◽  
Common Control ◽  
Pick And Place ◽  
Place Task ◽  
Input Delays ◽  
Time Invariant

In this paper, a predictor-based controller for a 7-DOF Baxter manipulator is formulated to compensate a time-invariant input delay during a pick-and-place task. Robot manipulators are extensively employed because of their reliable, fast, and precise motions although they are subject to large time delays like many engineering systems. The time delay may lead to the lack of high precision required and even catastrophic instability. Using common control approaches on such delay systems can cause poor control performance, and uncompensated input delays can produce hazards when used in engineering applications. Therefore, destabilizing time delays need to be regarded in designing control law. First, delay-free dynamic equations are derived using the Lagrangian method. Then, we formulate a predictor-based controller for a 7-DOF Baxter manipulator, in the presence of input delay, in order to track desirable trajectories. Finally, the results are experimentally evaluated.

scholarly journals An integrated system design interface for operating 8-DoF robotic arm

2022 ◽  
Author(s):  
Madhav Rao
Keyword(s):  
Upper Limb ◽  
System Integration ◽  
Integrated System ◽  
Microsoft Kinect ◽  
Robotic Arm ◽  
Robot Arm ◽  
Game Engine ◽  
Kinematic Modeling ◽  
Articulated Robot ◽  
Integrated System Design

This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

scholarly journals Electro-Hydraulic Proportional System Real Time Tracking Control Development Based on Pulse width Modulation Method

2021 ◽  
Vol 23 (4) ◽  
pp. B336-B345
Author(s):  
Ezz Eldin Ibrahim ◽  
Tarek Elnady ◽  
Mohamed Saffaa Hassan ◽  
Ibrahim Saleh
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Pulse Width ◽  
Pulse Width Modulation ◽  
Control Method ◽  
Modulation Method ◽  
Constant Input ◽  
Transient Time ◽  
Linear Variable Displacement Transducer ◽  
Real Time Tracking

The presented work was directed to develop the dynamic performance of an electro-hydraulic proportional system (EHPS). A mathematical model of the EHPS is presented using electro- hydraulic proportional valve (EHPV) by Matlab-Simulink, which facilitates the simulation of the hydraulic behavior inside the main control unit. Experimental work is done and the closed loop system is designed using the linear variable displacement transducer sensor (LVDT). The controller of the system is an Arduino uno, which is considered as a processor of the system. The model is validated by the experimental system. The study also presents a real time tracking control method, based on pulse width modulation, by controlling the speed of the actuator to achieve the position tracking with minimum error and low transient time, by applying the constant input signal 50mm the transient time was 0.9 seconds and the error 1.8%.

scholarly journals A Pick and Place Task with an KUKA Industrial Robot, Aided by an Arduino Board

2019 ◽  
Vol 6 (12) ◽  
pp. 398-400
Author(s):  
Rodrigo Barbosa Tudeschini ◽  
Raphael Barbosa Carneiro de Lima ◽  
Luiz Flavio Martins Pereira ◽  
Álvaro Manoel de Souza Soares
Keyword(s):  
Industrial Robot ◽  
Pick And Place ◽  
Place Task

scholarly journals Smart Irrigation System Using GPRS and Moisture Sensor

2020 ◽  
pp. 195-200
Keyword(s):  
Irrigation System ◽  
Threshold Value ◽  
Manual Control ◽  
Moisture Sensor ◽  
Turn On ◽  
Continuous Parameter ◽  
Water Drip ◽  
System User ◽  
Irrigation Control ◽  
User Friendly

With the advent of globalization, urbanization and modernization, water degradation has become an major concern today. Farming in India is still done as per traditional method that requires plenty of usage of water. Drip system has resolved this issue to some extent. But this system has suffered with overhead of continuous parameter checking and manual control. This paper focuses on designing of a smart drip irrigation system that comprises of sensing the moisture of soil which automatically controls switching of pump and valve with low consumption of available power. Automatic sensing of parameters remotely controls the drip valves of system. User friendly interface allows irrigation control with ease and less efforts. The moisture sensor will continuously sense the moisture content in the soil. The temperature sensor continuously monitors the temperature and if it is above threshold value then spraying system will turn on which will reduce crop temperature.

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