scholarly journals Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Quoc Khanh Duong ◽  
Thanh Trung Trang ◽  
Thanh Long Pham
Keyword(s):  
Control System ◽  
High Resolution ◽  
Robot Control ◽  
Low Cost ◽  
Transmission System ◽  
Measuring System ◽  
Robot Calibration ◽  
Measuring Device ◽  
Calibration Solution ◽  
System Errors

It is easy to realize that most robots do not move to the desired endpoint (Tool Center Point (TCP)) using high-resolution noncontact instrumentation because of manufacturing and assembly errors, transmission system errors, and mechanical wear. This paper presents a robot calibration solution by changing the endpoint trajectories while maintaining the robot’s control system and device usages. Two independent systems to measure the endpoint positions, the robot encoder and a noncontact measuring system with a high-resolution camera, are used to determine the endpoint errors. A new trajectory based on the measured errors will be built to replace the original trajectory. The results show that the proposed method can significantly reduce errors; moreover, this is a low-cost solution and easy to apply in practice and calibration can be done cyclically. The only requirement for this method is a noncontact measuring device with high-resolution and located independently with the robot in calibration.

Home Services - Track Transport Robot Control System Design

2013 ◽  
Vol 341-342 ◽  
pp. 646-649
Author(s):  
Rui Wang ◽  
Hao Guan ◽  
Jian Lan
Keyword(s):  
Control System ◽  
System Design ◽  
International Development ◽  
Robot Control ◽  
Low Cost ◽  
The Elderly ◽  
Control System Design ◽  
Functional Requirements ◽  
The Status ◽  
Robot Control System

This paper combines the related developed technology and current functional requirements, show you a multifunction household services given trajectory transfer robot with low cost ,which is designed for the elderly and wreck. And the R&D of this robot has been finished according to the status of domestic and international development

scholarly journals A low-cost pose-measuring system for robot calibration

1995 ◽  
Vol 15 (3) ◽  
pp. 207-227 ◽  
Author(s):  
G.D. van Albada ◽  
J.M. Lagerberg ◽  
A. Visser ◽  
L.O. Hertzberger
Keyword(s):  
Low Cost ◽  
Measuring System ◽  
Robot Calibration

scholarly journals The grades and freshness assessment of eggs based on density detection using machine vision and weighing sensor

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Supakorn Harnsoongnoen ◽  
Nuananong Jaroensuk
Keyword(s):  
Machine Vision ◽  
Vision System ◽  
Low Cost ◽  
Measuring System ◽  
Coefficient Of Determination ◽  
Water Displacement ◽  
Non Invasive ◽  
Future Potential ◽  
Non Destructive ◽  
Egg Freshness

AbstractThe water displacement and flotation are two of the most accurate and rapid methods for grading and assessing freshness of agricultural products based on density determination. However, these techniques are still not suitable for use in agricultural inspections of products such as eggs that absorb water which can be considered intrusive or destructive and can affect the result of measurements. Here we present a novel proposal for a method of non-destructive, non-invasive, low cost, simple and real—time monitoring of the grading and freshness assessment of eggs based on density detection using machine vision and a weighing sensor. This is the first proposal that divides egg freshness into intervals through density measurements. The machine vision system was developed for the measurement of external physical characteristics (length and breadth) of eggs for evaluating their volume. The weighing system was developed for the measurement of the weight of the egg. Egg weight and volume were used to calculate density for grading and egg freshness assessment. The proposed system could measure the weight, volume and density with an accuracy of 99.88%, 98.26% and 99.02%, respectively. The results showed that the weight and freshness of eggs stored at room temperature decreased with storage time. The relationship between density and percentage of freshness was linear for the all sizes of eggs, the coefficient of determination (R2) of 0.9982, 0.9999, 0.9996, 0.9996 and 0.9994 for classified egg size classified 0, 1, 2, 3 and 4, respectively. This study shows that egg freshness can be determined through density without using water to test for water displacement or egg flotation which has future potential as a measuring system important for the poultry industry.

scholarly journals Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110027
Author(s):  
Jianqiang Wang ◽  
Yanmin Zhang ◽  
Xintong Liu
Keyword(s):  
Control System ◽  
Trajectory Planning ◽  
Robot Control ◽  
Machining Process ◽  
Planning System ◽  
Positioning Accuracy ◽  
Multi Objective ◽  
Planning Algorithm ◽  
Function Testing ◽  
Robot Control System

To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

scholarly journals Fabrication and Compressive Behavior of a Micro-Lattice Composite by High Resolution DLP Stereolithography

Polymers ◽  
2021 ◽  
Vol 13 (5) ◽  
pp. 785
Author(s):  
Chow Shing Shin ◽  
Yu Chia Chang
Keyword(s):  
High Resolution ◽  
Lattice Structure ◽  
Low Cost ◽  
Hierarchical Structures ◽  
Dip Coating ◽  
Unit Cell ◽  
Digital Light Processing ◽  
Unit Cell Size ◽  
Wide Range ◽  
And Performance

Lattice structures are superior to stochastic foams in mechanical properties and are finding increasing applications. Their properties can be tailored in a wide range through adjusting the design and dimensions of the unit cell, changing the constituent materials as well as forming into hierarchical structures. In order to achieve more levels of hierarchy, the dimensions of the fundamental lattice have to be small enough. Although lattice size of several microns can be fabricated using the two-photon polymerization technique, sophisticated and costly equipment is required. To balance cost and performance, a low-cost high resolution micro-stereolithographic system has been developed in this work based on a commercial digital light processing (DLP) projector. Unit cell lengths as small as 100 μm have been successfully fabricated. Decreasing the unit cell size from 150 to 100 μm increased the compressive stiffness by 26%. Different pretreatments to facilitate the electroless plating of nickel on the lattice structure have been attempted. A pretreatment of dip coating in a graphene suspension is the most successful and increased the strength and stiffness by 5.3 and 3.6 times, respectively. Even a very light and incomplete nickel plating in the interior has increase the structural stiffness and strength by more than twofold.

scholarly journals Intelligent Control Wheelchair Using a New Visual Joystick

2018 ◽  
Vol 2018 ◽  
pp. 1-20 ◽  
Author(s):  
Yassine Rabhi ◽  
Makrem Mrabet ◽  
Farhat Fnaiech
Keyword(s):  
Control System ◽  
Intelligent Control ◽  
Visual Recognition ◽  
Low Cost ◽  
Control Device ◽  
Control Technique ◽  
Hand Gesture ◽  
Functional Rehabilitation ◽  
Number Of Patients ◽  
Real Patients

A new control system of a hand gesture-controlled wheelchair (EWC) is proposed. This smart control device is suitable for a large number of patients who cannot manipulate a standard joystick wheelchair. The movement control system uses a camera fixed on the wheelchair. The patient’s hand movements are recognized using a visual recognition algorithm and artificial intelligence software; the derived corresponding signals are thus used to control the EWC in real time. One of the main features of this control technique is that it allows the patient to drive the wheelchair with a variable speed similar to that of a standard joystick. The designed device “hand gesture-controlled wheelchair” is performed at low cost and has been tested on real patients and exhibits good results. Before testing the proposed control device, we have created a three-dimensional environment simulator to test its performances with extreme security. These tests were performed on real patients with diverse hand pathologies in Mohamed Kassab National Institute of Orthopedics, Physical and Functional Rehabilitation Hospital of Tunis, and the validity of this intelligent control system had been proved.

A HIGH-RESOLUTION 2D IMAGING LASER RADAR FOR OCCLUDED HARD TARGET VIEWING AND IDENTIFICATION

2008 ◽  
Vol 18 (02) ◽  
pp. 393-400 ◽  
Author(s):  
ROBERT J. GRASSO ◽  
JOHN C. WIKMAN ◽  
DAVID P. DROUIN ◽  
GEORGE F. DIPPEL ◽  
PAUL I. EGBERT
Keyword(s):  
High Resolution ◽  
Target Identification ◽  
Low Cost ◽  
System Size ◽  
Operating Conditions ◽  
Array Technology ◽  
Diode Pumped ◽  
Target Ranging ◽  
2D Imaging ◽  
Gated Imaging

BAE SYSTEMS has developed a Low Cost Targeting System (LCTS) consisting of a FLIR for target detection, laser-illuminated, gated imaging for target identification, laser rangefinder and designator, GPS positioning, and auto-tracking capability within a small compact system size. The system is based upon BAE Systems proven micro-bolometer passive LWIR camera coupled with Intevac's new EBAPS camera. A dual wavelength diode pumped laser provides eyesafe ranging and target illumination, as well as designation; a custom detector module senses the return pulse for target ranging and to set the range gates for the gated camera. Trials show that the current detectors offer complete extinction of signals outside of the gated range, thus, providing high resolution within the gated region. The images have shown high spatial resolution arising from the use of solid state focal plane array technology. Imagery has been collected in both the laboratory and the field to verify system performance during a variety of operating conditions.

Sign in / Sign up

Export Citation Format

Share Document