Intelligent Selective Compliance Articulated Robot Arm robot with object recognition in a multi-agent manufacturing system

Nowadays, industry tends to adopt the smart factory concept in their production. Technology intelligence is applied to use all the resources efficiently. Robots and vision system are masters in this kind of industry. However, information transfer between the robot controller and the vision system poses a great challenge. Data exchange between these two systems shall be secure, and the transfer must be with a very high level of accuracy. In this article, a multi-platform software application using a vision system is performed to control a Selective Compliance Articulated Robot Arm robot. The software solution includes the detection of defaults in a product by calculating a compliance rate using an efficient algorithm. An analysis of four different algorithms related to histogram-based similarity functions is set. Then, the most efficient algorithm is integrated into the application that provides a secure communication between three different operating systems. Experiments in a multi-agent manufacturing center validate the effectiveness of the proposed method. Tests demonstrate the efficiency of the data transfer between the vision system and the multi-platform software application and the Selective Compliance Articulated Robot Arm robot. This data transfer can be controlled in a high accuracy manner without any additional manual parameters tuning.

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DEVELOPMENT OF AN ARTICULATION ROBOT ARM

Transactions of the Canadian Society for Mechanical Engineering ◽

10.1139/tcsme-2017-1031 ◽

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.

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Reference trajectory tracking for a multi-DOF robot arm

Archives of Control Sciences ◽

10.1515/acsc-2015-0033 ◽

2015 ◽

Vol 25 (4) ◽

pp. 513-527 ◽

Cited By ~ 1

Author(s):

Róbert Krasňanský ◽

Peter Valach ◽

Dávid Soós ◽

Javad Zarbakhsh

Keyword(s):

Data Exchange ◽

Iterative Solution ◽

Reference Trajectory ◽

Robot Arm ◽

Task Space ◽

Joint Configuration ◽

Matlab Simulink ◽

Stepper Motors ◽

Homogeneous Transformation Matrix ◽

Kinematic Transformation

Abstract This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.

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Approximate Degree Reduction of NURBS Curves and Surfaces: An Integrated Approach

4th Flexible Assembly Conference ◽

10.1115/detc1994-0368 ◽

1994 ◽

Author(s):

Srinivasa P. Varanasi ◽

Athamaram H. Soni

Keyword(s):

Shape Control ◽

Data Exchange ◽

Data Transfer ◽

Integrated Approach ◽

Free Form ◽

Aircraft Industry ◽

Trimmed Surfaces ◽

Curves And Surfaces ◽

High Degree ◽

Boundary Curves

Abstract Data exchange between different CAD systems usually requires conversion between different representations of free-form curves and surfaces. Also, trimmed surfaces give rise to high degree boundary curves. Accurate conversion of these forms becomes necessary for reliable data transfer. Also important is the issue of shape control, specially in the aircraft industry. The objective of this paper is to investigate conversion methods and effect of shape control on the design and choice of such methods.

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JCAMP-DX for NMR

Applied Spectroscopy ◽

10.1366/0003702934067874 ◽

1993 ◽

Vol 47 (8) ◽

pp. 1093-1099 ◽

Cited By ~ 29

Author(s):

Antony N. Davies ◽

Peter Lampen

Keyword(s):

Spectral Data ◽

Data Exchange ◽

Data Transfer ◽

Nmr Imaging ◽

Successful Implementation ◽

Independent Data ◽

Imaging Data ◽

Loss Of Information ◽

Storage Media ◽

Different Origin

Following the development and publication of the JCAMP-DX protocol 4.24 and its successful implementation in the field of infrared spectroscopy, data exchange without loss of information, between systems of different origin and internal format, has become a reality. The benefits of this system-independent data transfer standard have been recognized by workers in other areas who have expressed a wish for an equivalent, compatible standard in their own fields. This publication details a protocol for the exchange of Nuclear Magnetic Resonance (NMR) spectral data without any loss of information and in a format that is compatible with all storage media and computer systems. The protocol detailed below is designed for spectral data transfer, and its use for NMR imaging data transfer has not as yet been investigated.

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A purposive computer vision system: a multi-agent approach

Proceedings II Workshop on Cybernetic Vision ◽

10.1109/cybvis.1996.629468 ◽

2002 ◽

Author(s):

R.A.C. Bianchi ◽

A.H.R.C. Rillo

Keyword(s):

Computer Vision ◽

Vision System ◽

Computer Vision System ◽

System A ◽

Multi Agent

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

10.31224/osf.io/m7rtg ◽

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.

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Using Mobile Elements as Dynamic Bridges in Sparse Wireless Sensor Networks

Research and Development on Information and Communication Technology ◽

10.32913/mic-ict-research.v3.n11.309 ◽

2014 ◽

pp. 107

Author(s):

Hoang Dang Hai ◽

Thorsten Strufe ◽

Pham Thieu Nga ◽

Hoang Hong Ngoc ◽

Nguyen Anh Son ◽

...

Keyword(s):

Wireless Sensor Networks ◽

Sensor Networks ◽

Data Exchange ◽

Data Transfer ◽

Mobile Elements ◽

Sensor Nodes ◽

Pollution Monitoring ◽

Wireless Sensor ◽

Mobile Nodes ◽

Road Distance

Sparse Wireless Sensor Networks using several mobile nodes and a small number of static sensor nodes have been widely used for many applications, especially for traffic-generated pollution monitoring. This paper proposes a method for data collection and forwarding using Mobile Elements (MEs), which are moving on predefined trajectories in contrast to previous works that use a mixture of MEsand static nodes. In our method, MEscan be used as data collector as well as dynamic bridges for data transfer. We design the trajectories in such a way, that they completely cover the deployed area and data will be gradually forwarded from outermost trajectories to the center whenever a pair of MEs contacts each other on an overlapping road distance of respective trajectories. The method is based on direction-oriented level and weight assignment. We analyze the contact opportunity for data exchange while MEs move. The method has been successfully tested for traffic pollution monitoring in an urban area.

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A Multi-Agent Based Tool Path Planning Method for STEP-NC Compliant Milling

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.97-101.3382 ◽

2010 ◽

Vol 97-101 ◽

pp. 3382-3386 ◽

Cited By ~ 1

Author(s):

Juan Du ◽

Xian Guo Yan ◽

Zhi Chen

Keyword(s):

Path Planning ◽

Tool Path ◽

Data Transfer ◽

Planning Method ◽

Cnc Machining ◽

Distributed Artificial Intelligence ◽

Tool Path Planning ◽

Machining Processes ◽

Nc Program ◽

Multi Agent

Today a new model of data transfer between CAD/CAM systems and CNC machines, called STEP-NC, is being developed by the ISO technical Committees. It overcomes the shortcomings of ISO 6983 by specifying machining processes rather than machine motion, using the object-oriented concept of working step. Although the STEP-NC contains abundant geometry information of part and associated process parameters, the tool path is general not included in the STEP-NC program. So before the beginning of the STEP-NC-compliant CNC machining, the tool path should be firstly designed. By analyzing the characteristic of STEP-NC data model for milling, a working step-oriented tool path planning method for milling was proposed in this paper, and the distributed artificial intelligence methods, namely collaborative multi-agent was employed to accomplish tool path planning. Firstly a multi-agent architecture was constructed to allow multiple agents to work cooperatively to realize automation of tool path planning, and then, the function of every kind of agent and the communication between the agents were all described in detail. At last, one test component was designed and simulated to demonstrate the capabilities of this research in the paper.

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