Assessment and Development of HF Related Safety Designs for Industrial Robots and Robotic Systems

1987 ◽  
Vol 31 (2) ◽  
pp. 176-180 ◽  
Author(s):  
Theodore Marton ◽  
Joan L. Pulaski
Keyword(s):  
Human Factors ◽  
Professional Growth ◽  
Robotic System ◽  
Industrial Robots ◽  
Robotic Systems ◽  
System Safety ◽  
Safety Standards ◽  
Growth Deficiency ◽  
Level Of Automation ◽  
Robotic Applications

Robots and Robotic Systems, regardless of their level of automation, require formal human intervention during normal, degraded or recovery from failure processes. Robotic applications in industry are so recent and expanding so quickly that the unique robotics related human factors safety developments and standards have not yet had a chance to be incorporated into professional educational programs or distributed to human factors engineers who are just being introduced to the field. This paper is offered to alleviate this professional growth deficiency by describing an approach and providing a format for an HF related robotic system safety assessment and development guide based on the newly released ANSI Robot and Robotic System safety standards.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Responsive Production Systems and Roles that Robots can Play

2009 ◽  
Vol 62-64 ◽  
pp. 275-292
Author(s):  
R.H. Weston
Keyword(s):  
Building Block ◽  
Production System ◽  
World Wide ◽  
Production Systems ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Different Types ◽  
Useful Lifetime

With increased product dynamics world-wide, the average economic lifetime of production systems is falling. Industrial robots are widely assumed to be inherently flexible and therefore that they can function as a programmable building block of response production systems. This paper reviews common capabilities of contemporary industrial robotic systems and investigates their capability to extend the useful lifetime of production system by coping with different types of product dynamic. Also considered are relative capabilities of conventional programmable robots and an emerging generation of programmable and configurable component-based machines.

Herstellerneutrale Programmierung von Robotern*/Manufacturer-independent programming of robots - A software architecture concept for controlling and programming heterogeneous robotic systems

2017 ◽  
Vol 107 (09) ◽  
pp. 594-599
Author(s):  
A. Magaña ◽  
G. Prof. Reinhart
Keyword(s):  
Software Architecture ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Key Technology ◽  
Robot Systems ◽  
And Control

Industrieroboter sind zu einer Schlüsseltechnologie in der Produktion geworden. Mit dem steigenden Einsatz von diversen Robotersystemen wächst das Bedürfnis, deren Kompatibilität zu steigern. Heutzutage gibt es keine Technologie in der Industrie, die eine standardisierte Programmierung und Steuerung von verschiedenen Robotersystemen gewährleisten kann. Dieser Fachbeitrag präsentiert ein einheitliches Konzept, welches die Anwendung von herstellerneutralen Roboterapplikationen ermöglicht.   Industrial robots have become a key technology in production. The increasing use of various robotic systems, raises the need to enhance their compatibilit.y Nowadays, there is no technology in the industry to guarantee a standardized programming and control of different robot systems. This article presents a concept enabling the use of manufacturer-independent robot applications.

scholarly journals Design and Analysis of a Novel Variable Stiffness Joint for Robot

2018 ◽  
Vol 249 ◽  
pp. 03005
Author(s):  
Xiang Zhang ◽  
Twan Capehart ◽  
Carl A. Moore
Keyword(s):  
High Frequency ◽  
Joint Stiffness ◽  
Variable Stiffness ◽  
Robotic Systems ◽  
Compliant Joint ◽  
Variable Transmission ◽  
Application Requirements ◽  
Base Application ◽  
Robotic Applications ◽  
Human Robotic Interaction

As people pay more attention to the safety of human-robotic interaction, the flexibility of machine joints is becoming more and more important. To address the needs of future robotic applications, many kinds of variable stiffness mechanisms have been designed by scientists. But most of the structures are complex. By studying and comparing many different mechanism designs of variable stiffness joint, we recognize the need to miniaturization and reduce weight of variable stiffness joints with high frequency operation. To address this, need a continuously Variable Compliant Joint (CVCJ) was designed. The core of the joint is based on the structure of the spherical continuously variable transmission (SCVT) which is the catalyst to change the stiffness continuously and smoothly. In this paper, we present a compact variable stiffness joint structure to meet the volume and weight requirements of the future robotic systems. We show the connection between the joint stiffness coefficient and the structure parameters by making mathematical analysis, modelling and simulation for the system to verify the ability to satisfy the base application requirements of the compliant joint.

scholarly journals IMPACT OF THE ENVIRONMENT AND SOCIETY ON ROBOTICS INNOVATIONS

2021 ◽  
Vol 5 (6) ◽  
pp. 1-10
Author(s):  
Atef ATA ◽  
N. M. Fonseca Ferreira
Keyword(s):  
Elderly People ◽  
The Elderly ◽  
Social Needs ◽  
Industrial Robots ◽  
Car Industry ◽  
The Social ◽  
Smart Mobile ◽  
Robotic Applications ◽  
And Robotics ◽  
Indoor And Outdoor

Over the engineering history, environmental and social needs inspire the development and innovation of many wonderful applications. For example, when the industrial robots entered our industrial life, great advances especially in automotive industry where the industrial robots cover about 90 % of the car industry activities started to change our own life. As the number of elderly people is increasing rapidly all over the world, this requires us to focus on their needs as their children left them alone in our busy daily life. Mechatronics and robotics can offer many possibilities to help elderly people by providing smart solutions for their daily needs as well as entertaining them during their lonely long stay at their homes. Many companies are providing smart mobile robots in different platforms (wheeled or walking) to help the elderly people depend on themselves in receiving their food and medicine at prescheduled times. Other companies are interested in providing smart wheel chairs to help the elderly people navigate indoor and outdoor freely and conveniently without any external help. Meanwhile, some companies are providing entertainment robots in different shapes to talk, play and communicate with elderly people in a nice way. The objective of this paper is to explore the mechatronics and robotics capabilities to assist elderly people and to make their life easier, comfortable and self-governing without any external help. This paper will highlight also the effect of the environment and the social needs in inspiring new innovations. As an example, the innovations by Badi Az-Zaman Ismail Al-Jazari, a Muslim scientist, will be investigated. This paper is going to discuss also the idea and the motivation behind two of Al-Jazari’s robotic applications (Although the term robot was not coined at that time). These two devices are the washing hands and the peacock fountain. Although he used to apply mechanical structure and fluid for controlling the motion of the two devices, they were very beautiful and resemble some of the robotic applications nowadays.   

A bio-inspired robotic climbing robot to understand kinematic and morphological determinants for an optimal climbing gait

2021 ◽  
Author(s):  
Hendrik Beck ◽  
Johanna J Schultz ◽  
Christofer J Clemente
Keyword(s):  
Optimal Parameter ◽  
Legged Locomotion ◽  
Robotic Systems ◽  
Climbing Robot ◽  
Kinematic Parameters ◽  
Phase Dynamics ◽  
Complex Interactions ◽  
Optimal Dynamic ◽  
Speed Stability ◽  
Robotic Applications

Abstract Robotic systems for complex tasks, such as search and rescue or exploration, are limited for wheeled designs, thus the study of legged locomotion for robotic applications has become increasingly important. To successfully navigate in regions with rough terrain, a robot must not only be able to negotiate obstacles, but also climb steep inclines. Following the principles of biomimetics, we developed a modular bio-inspired climbing robot, named X4, which mimics the lizard’s bauplan including an actuated spine, shoulders, and feet which interlock with the surface via claws. We included the ability to modify gait and hardware parameters and simultaneously collect data with the robot’s sensors on climbed distance, slip occurrence and efficiency. We first explored the speed-stability trade-off and its interaction with limb swing phase dynamics, finding a sigmoidal pattern of limb movement resulted in the greatest distance travelled. By modifying foot orientation, we found two optima for both speed and stability, suggesting multiple stable configurations. We varied spine and limb range of motion, again showing two possible optimum configurations, and finally varied the centre of pro- and retraction on climbing performance, showing an advantage for protracted limbs during the stride. We then stacked optimal regions of performance and show that combining optimal dynamic patterns with either foot angles or ROM configurations have the greatest performance, but further optima stacking resulted in a decrease in performance, suggesting complex interactions between kinematic parameters. The search of optimal parameter configurations might not only be beneficial to improve robotic in-field operations but may also further the study of the locomotive evolution of climbing of animals, like lizards or insects.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 356-378
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

scholarly journals Virtual Pheromone Based Network Flow Control For Modular Robotic Systems

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 481
Author(s):  
Van Tung Le ◽  
Trung Dung Ngo
Keyword(s):  
Flow Control ◽  
Network Flow ◽  
Communication Channel ◽  
Routing Algorithm ◽  
Robotic System ◽  
Robotic Systems ◽  
Application Development ◽  
Gradient Based ◽  
Communication Path

Guaranteeing data transmission between modules is the key for application development of modular robotic systems. In a multi-channel modular robotic system, intersection modules play an essential role of communication channel selection in controlling data flow toward desired destinations. The gradient-based routing algorithm is an ideal solution to create an one-way communication path from any robotic module to a designated destination. To create bi-directional communication for a communication path of robotic configuration, virtual pheromone-based routing algorithm is a promising mechanism for intersection modules due to its simplicity and distributivity. In this paper, we address a virtual pheromone based network flow control based on the integration of gradient and virtual pheromone-based routing algorithms. We validated this method through an education and entertainment application using our newly developed modular robotic system.

Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

2015 ◽  
Vol 772 ◽  
pp. 318-323 ◽  
Author(s):  
Zdenko Bobovský ◽  
Václav Krys ◽  
Ján Babjak ◽  
Tomáš Kot
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Kinematic Structure ◽  
Future Outlook ◽  
Control Application

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

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