2P1-W07 Pick-and-Place Task by Visual servoing PWM control

2015 ◽  
Vol 2015 (0) ◽  
pp. _2P1-W07_1-_2P1-W07_2
Author(s):  
Miyako TACHIBANA ◽  
Soichiro YAMATE ◽  
Akihiro KAWAMURA ◽  
Sadao KAWAMURA
Keyword(s):  
Visual Servoing ◽  
Pwm Control ◽  
Pick And Place ◽  
Place Task

Near-Minimum Time Visual Servoing of an Underactuated Robotic Manipulator

2013 ◽  
Vol 373-375 ◽  
pp. 217-220
Author(s):  
Yacine Benbelkacem ◽  
Rosmiwati Mohd-Mokhtar
Keyword(s):  
Rate Of Convergence ◽  
Visual Information ◽  
Visual Servoing ◽  
Open Loop ◽  
Minimum Time ◽  
Robotic Arm ◽  
Speed Of Convergence ◽  
Visually Guided ◽  
Pick And Place ◽  
Place Task

Rate of convergence to the desired pose to grasp an object using visual information may be important in some applications, such as a pick and place routine in assembly where the time between two stops of the conveyor is very short. The visually guided robot is required to move fast if vision is to bring the sought benefits to industrial setups. In this paper, the three most famous techniques to visual servoing, mainly the image-based, position-based and hybrid visual servoing are evaluated in terms of their speed of convergence to the grasping pose in a pick and place task of a momentarily motionless target. An alternative open-loop near-minimum time approach is also presented and tested on a 5DOF under-actuated robotic arm. The performance is compared and result shows significant reduction for its time of convergence, to the aforementioned techniques.

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.

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 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

Plant-Limited Co-Design of an Energy-Efficient Counterbalanced Robotic Manipulator

2012 ◽  
Author(s):  
James T. Allison
Keyword(s):  
System Design ◽  
Physical System ◽  
Control Design ◽  
Robotic Manipulator ◽  
Plant Design ◽  
Design Modification ◽  
Baseline Design ◽  
Design Changes ◽  
Pick And Place ◽  
Place Task

Modifying the design of an existing system to meet the needs of a new task is a common activity in mechatronic system development. Often engineers seek to meet requirements for the new task via control design changes alone, but in many cases new requirements are impossible to meet using control design only; physical system design modifications must be considered. Plant-Limited Co-Design (PLCD) is a design methodology for meeting new requirements at minimum cost through limited physical system (plant) design changes in concert with control system redesign. The most influential plant changes are identified to narrow the set of candidate plant changes. PLCD provides quantitative evidence to support strategic plant design modification decisions, including tradeoff analyses of redesign cost and requirement violation. In this article the design of a counterbalanced robotic manipulator is used to illustrate successful PLCD application. A baseline system design is obtained that exploits synergy between manipulator passive dynamics and control to minimize energy consumption for a specific pick-and-place task. The baseline design cannot meet requirements for a second pick-and-place task through control design changes alone. A limited set of plant design changes is identified using sensitivity analysis, and the PLCD result meets the new requirements at a cost significantly less than complete system redesign.

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