scholarly journals Reference trajectory tracking for a multi-DOF robot arm

2015 ◽  
Vol 25 (4) ◽  
pp. 513-527 ◽  
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.

Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators

2020 ◽  
Author(s):  
Michael John Chua ◽  
Yen-Chen Liu
Keyword(s):  
Degrees Of Freedom ◽  
Null Space ◽  
Kinematic Model ◽  
Mobile Manipulator ◽  
Main Task ◽  
Mobile Manipulators ◽  
Robot Arm ◽  
Task Space ◽  
End Effector ◽  
Mobile Base

Abstract This paper presents cooperation and null-space control for networked mobile manipulators with high degrees of freedom (DOFs). First, kinematic model and Euler-Lagrange dynamic model of the mobile manipulator, which has an articulated robot arm mounted on a mobile base with omni-directional wheels, have been presented. Then, the dynamic decoupling has been considered so that the task-space and the null-space can be controlled separately to accomplish different missions. The motion of the end-effector is controlled in the task-space, and the force control is implemented to make sure the cooperation of the mobile manipulators, as well as the transportation tasks. Also, the null-space control for the manipulator has been combined into the decoupling control. For the mobile base, it is controlled in the null-space to track the velocity of the end-effector, avoid other agents, avoid the obstacles, and move in a defined range based on the length of the manipulator without affecting the main task. Numerical simulations have been addressed to demonstrate the proposed methods.

scholarly journals Planning of Collision-Free Trajectory for Mobile Manipulators

2013 ◽  
Vol 18 (2) ◽  
pp. 475-489
Author(s):  
G. Pająk
Keyword(s):  
Mobile Manipulator ◽  
Reference Trajectory ◽  
Mobile Manipulators ◽  
Redundancy Resolution ◽  
Task Space ◽  
End Effector ◽  
Acceleration Level ◽  
Manipulability Measure ◽  
And Control ◽  
Penalty Function Approach

A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. A computer example involving a mobile manipulator consisting of a nonholonomic platform and a SCARA type holonomic manipulator operating in a two-dimensional task space is also presented.

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

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141984114 ◽  
Author(s):  
Afef Zakhama ◽  
Lotfi Charrabi ◽  
Khaled Jelassi
Keyword(s):  
Efficient Algorithm ◽  
Secure Communication ◽  
Data Exchange ◽  
Data Transfer ◽  
Vision System ◽  
Compliance Rate ◽  
Robot Arm ◽  
Software Application ◽  
Multi Agent ◽  
Articulated Robot

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.

scholarly journals Design and Fabrication of 3-DOF Robot Arm Using Parallelogram Mechanisms

2021 ◽  
Vol 9 (9) ◽  
pp. 1224-1229
Keyword(s):  
Robotic Arm ◽  
Robot Motion ◽  
3D Printer ◽  
File Format ◽  
Robot Arm ◽  
End Effector ◽  
Stl File ◽  
Stepper Motors ◽  
And Control

This paper focuses on the design, fabrication and control of a 3-DOF robot arm using stepper motors. The robot arm uses three parallelogram mechanisms to position the end-effector of the robot and keep the end-effector always parallel to the horizontal during the robot motion. The robot is designed on the Autodesk Inventor software. Separated parts of the robot are saved in the stereolithography (STL) file format. Then the parts are fabricated by a 3D printer. The movement of the robotic arm is driven by stepper motors and controlled by Arduino. The Arduino board implements kinematics calculation, creates pulses and sends them to three drivers to driven stepper motors. A software is developed to control the robot by sending the command to the Arduino board.

Modeling of Violin Playing Robot Arm with MATLAB/SIMULINK

2016 ◽  
pp. 249-261 ◽  
Author(s):  
Jargalbaatar Yura ◽  
Mandakh Oyun-Erdene ◽  
Bat-Erdene Byambasuren ◽  
Donghan Kim
Keyword(s):  
Robot Arm ◽  
Matlab Simulink ◽  
Violin Playing

scholarly journals Path optimization for robots in a constrained workspace

2019 ◽  
Vol 8 (2) ◽  
pp. 89
Author(s):  
Doaa Mahmood Badr ◽  
Abbas Fadhal Mahdi
Keyword(s):  
Optimal Path ◽  
Joint Space ◽  
Task Space ◽  
Dimensional Synthesis ◽  
A Algorithm ◽  
Cartesian Space ◽  
Optimum Path ◽  
Stepper Motors ◽  
Path Planner

In this work, the classical A* algorithm serves as path planner to generate the optimum path that would avoid collisions and take the start, collisions, and goal as an input and give the optimal path as an output. The work was done in a static environment, so the coordinates of the obstacles are predefined for the planner. The obtained path is just a sequence of points in space, and this path may be considered later the task space and the first step for another sequential operation like mapping from Cartesian space to joint space, topology optimization, dimensional synthesis, etc. The case study was Lab-Volt 5150 manipulator; it is an accurate educational five degree of freedom 5DOF stationary robot driven by five stepper motors.

Small Pressurized Water Reactor (SPWR) Simulation Platform Development for its Design Verification

2017 ◽  
Author(s):  
Peiwei Sun ◽  
Huanhuan Zhao ◽  
Jianmin Zhang
Keyword(s):  
Control System ◽  
Shared Memory ◽  
Steam Generator ◽  
Data Exchange ◽  
Transient Behavior ◽  
Hydraulic Modeling ◽  
Simulation Platform ◽  
Pressurized Water ◽  
Coolant Pump ◽  
Matlab Simulink

Small pressurized water reactors (SPWRs) are under development in the world. Lots of efforts have been made to the Research & Development. SPWR has its unique design features. The integral design is adopted. The reactor, coolant pump and steam generator are in the reactor vessel. The coolant inventory is large. Once-through steam generator is chosen. The pressurizer is also large in the volume. Because many years operation experiences of commercial PWRs, some old operation strategies may be modified or new strategies are derived for the new development. When the operation strategies are chosen, a simulation platform is needed to verify whether they are suitable for SPWRs. In this paper, an SPWR simulation platform is developed to verify the operation strategies of SPWR. The platform is developed based on an engineering simulator and Relap5 has been integrated in the simulator. Operation transient or accident scenarios can be simulated with the simulator. To improve the operation flexibility and implementation of control logics, the engineering simulator is couple with MATLAB/Simulink using shared memory technology. Shared memory is an efficient means of passing data between programs. The dynamic data exchange and simulation time synchronization methods are carefully treated. To verify the platform, an SPWR with its control system is modeled with the platform and the simulator. The thermal-hydraulic modeling of the SPWR is carried out using Relap5. The preliminary SPWR control system is designed with conditional proportional-integral-derivative (PID) controllers and implemented in MATLAB/Simulink. Abrupt load changes are simulated to evaluate the performance of the platform. The results obtained from two different platforms match well with each other. It is proved that the coupling is successfully and the platform can simulate the transient behavior of the SPWR with its control system.

scholarly journals Bluetooth Low Energy Wireless Sensor Network Library in MATLAB Simulink

2020 ◽  
Vol 9 (3) ◽  
pp. 38
Author(s):  
Rolands Shavelis ◽  
Kaspars Ozols
Keyword(s):  
Data Exchange ◽  
Transmission Rate ◽  
Packet Transmission ◽  
Data Packet ◽  
Low Energy ◽  
Wireless Sensor ◽  
Channel Noise ◽  
Bluetooth Low Energy ◽  
Matlab Simulink ◽  
High Data

The paper describes the elements of the developed MATLAB Simulink library for building the models of Bluetooth Low Energy (BLE) wireless sensor networks to simulate the communication between BLE devices in the presence of interference and channel noise. Various parameters can be configured for the devices including their 2D positions to take into account the distances between them for calculating the attenuation coefficients of the transmitted signals. Two simulation examples are provided, one of which demonstrates the data exchange between one master device and one slave at high data packet transmission rate (2 kHz), while the other example shows the data exchange between one master and multiple slaves simultaneously, in which case the data packet transmission rate can be no larger than 133 Hz.

scholarly journals Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
Wisnu Aribowo ◽  
Takahito Yamashita ◽  
Kazuhiko Terashima
Keyword(s):  
Trajectory Planning ◽  
Dimensional Space ◽  
Translational Motion ◽  
Three Dimensional ◽  
Joint Space ◽  
Robot Arm ◽  
Task Space ◽  
Robot Wrist ◽  
Point To Point ◽  
Sloshing Suppression

For liquid transfer system in three-dimensional space, the use of multijoint robot arm provides much flexibility. To realize quick point-to-point motion with minimal sloshing in such system, we propose an integrated framework of trajectory planning and sloshing suppression. The robot motion is decomposed into translational motion of the robot wrist and rotational motion of the robot hand to ensure the upright orientation of the liquid container. The trajectory planning for the translational motion is based on cubic spline optimization with free via points that produces smooth trajectory in joint space while it still allows obstacle avoidance in task space. Input shaping technique is applied in the task space to suppress the motion induced sloshing, which is modeled as spherical pendulum with moving support. It has been found through simulations and experiments that the proposed approach is effective in generating quick motion with low amount of sloshing.

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