SOLVING THE INVERSE KINEMATICAL PROBLEM OF A ROBOT ARM BY USING GROEBNER BASIS

2021 ◽  
Vol 13 (1) ◽  
pp. 15
Author(s):  
Alisya Masturoh ◽  
Bambang Hendriya Guswanto ◽  
Triyani Triyani
Keyword(s):  
Robot Hand ◽  
Polynomial Equations ◽  
Robot Arm ◽  
Groebner Basis

The inverse kinematical problem of a robot arm is a problem to find some appropriate joint configurations for a pair of position and direction of a robot hand which is represented by a polynomial equations system. The system is solved by employing Groebner basis notion. Thus, the appropriate joint configurations for a pair of position and direction of the robot hand are obtained.

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

scholarly journals Tactile Slippage Analysis in Optical Three-Axis Tactile Sensor for Robotic Hand

2013 ◽  
Vol 465-466 ◽  
pp. 1375-1379
Author(s):  
Hanafiah Yussof ◽  
Zahari Nur Ismarrubie ◽  
Ahmad Khushairy Makhtar ◽  
Masahiro Ohka ◽  
Siti Nora Basir
Keyword(s):  
Control Algorithm ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Robot Arm ◽  
Tactile Sensors ◽  
Shear Forces ◽  
Improve Performance ◽  
Robot Arm Control ◽  
Two Phases

This paper presents experimental results of object handling motions to evaluate tactile slippage sensation in a multi fingered robot arm with optical three-axis tactile sensors installed on its two hands. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs

2008 ◽  
Vol 2 (5) ◽  
pp. 360-367
Author(s):  
Ping Han ◽  
◽  
Hiroyuki Kojima ◽  
Lingfang Huang ◽  
Saputra Meruadi ◽  
...  
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Permanent Magnet ◽  
Motion Control ◽  
Force Control ◽  
Feedforward Control ◽  
Robot Hand ◽  
Robot Arm ◽  
Grasp Force ◽  
Cartesian Coordinate

In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.

Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

Robotica ◽  
2019 ◽  
Vol 37 (6) ◽  
pp. 1090-1103 ◽  
Author(s):  
Mitsunori Uemura ◽  
Yuki Mitabe ◽  
Sadao Kawamura
Keyword(s):  
Gear Ratio ◽  
Robot Hand ◽  
Compensation Mechanism ◽  
Robot Arm ◽  
Unstructured Environments ◽  
Gravitational Torque ◽  
Gripping Force ◽  
Force Compensation

SummaryIn this paper, we propose a novel mechanism to compensate for gravity and the gripping force in a hand-arm robot. This mechanism compensates for the gravitational torque produced by an object gripped by the hand-arm robot. The gripping force required for the robot hand to prevent the object from dropping is also simultaneously compensated for. This mechanism requires only one actuator placed on the shoulder part of the robot. Therefore, this mechanism can reduce the torque requirement of joint actuators and lower the weight of the robot. The gear ratio of the reduction gears in each robot joint can then also be reduced. These advantages are critical for future robots that perform tasks in unstructured environments and collaborate with humans. We carried out experiments with a 6-DoF robot arm having a 1-DoF gripper to demonstrate the effectiveness of the proposed mechanism.

scholarly journals Haptic Perception with an Articulated, Sensate Robot Hand

Robotica ◽  
1992 ◽  
Vol 10 (6) ◽  
pp. 497-508 ◽  
Author(s):  
Sharon A. Stansfield
Keyword(s):  
Internal Representation ◽  
Robotic System ◽  
Joint Torque ◽  
Robot Hand ◽  
Robot Arm ◽  
Haptic System ◽  
Spatially Resolved ◽  
Touch Perception ◽  
Perception System ◽  
Kinesthetic Information

SUMMARYIn this paper we present a series of haptic exploratory procedures, or EPs, implemented for a multi-fingered, articulated, sensate robot hand. These EPs are designed to extract specific tactile and kinesthetic information from an object via their purposive invocation by an intelligent robotic system. Taken together, they form an active robotic touch perception system to be used both in extracting information about the environment for internal representation and in acquiring grasps for manipulation. The theory and structure of this robotic haptic system is based upon models of human haptic exploration and information processing.The haptic system presented utilizes an integrated robotic system consisting of a PUMA 560 robot arm, a JPL/Stanford robot hand, with joint torque sensing in the fingers, a wrist force/torque sensor, and a 256 element, spatially-resolved fingertip tactile array. We describe the EPs implemented for this system and provide experimental results which illustrate how they function and how the information which they extract may be used. In addition to the sensate hand and arm, the robot also contains structured-lighting vision and a Prolog-based reasoning system capable of grasp generation and object categorization. We present a set of simple tasks which show how both grasping and recognition may be enhanced by the addition of active touch perception.

INTRODUCTION TO THE SPECIAL MILLENNIUM ISSUE ON GRASPING AND MANIPULATING

Robotica ◽  
2000 ◽  
Vol 18 (1) ◽  
pp. 1-2 ◽  
Author(s):  
Sugaru Arimoto
Keyword(s):  
20Th Century ◽  
High Precision ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
The Other ◽  
Robot Hand ◽  
Robot Arm ◽  
Industrial Automation ◽  
Robot Technology ◽  
Very High

At the end of the 20th century robot technology became well established as a reliable and economic source in industrial automation. On the other hand, it is claimed that even a general six or seven degree of freedom robot arm or a multifingered robot hand designed carefully and manufactured with very high precision lacks versatility in its use in a variety of tasks that must be done instead of a human. The lack of versatility or the clumsiness of present industrial robots is not due to the fine mechanism of such robots. Rather, the clumsiness shows a lack of our knowledge of everyday physics, in particular, a lack of knowledge of physics involving grasping and handling of various kinds of things and manipulating them with certain dexterity, in which tactile and vision sensings must be well coordinated.

Determination of Extreme Distances of a Robot Hand. Part 2: Robot Arms With Special Geometry

1981 ◽  
Vol 103 (4) ◽  
pp. 776-783 ◽  
Author(s):  
K. Sugimoto ◽  
J. Duffy
Keyword(s):  
Robot Hand ◽  
Robot Arm ◽  
Practical Application ◽  
Robot Arms ◽  
Special Geometry ◽  
Hand Part ◽  
Important Practical Application

The algorithm developed in [1] for searching for extreme distance lines of robot arms with arbitrary skew joint axes can fail when applied to arms with special geometry. In this paper, procedures are developed to search for extreme distance lines of robot arms with intersecting or parallel axes. Such cases have important practical application. It is demonstrated that a robot arm with geometry common to industrial arms such as Cincinnati Milacron, Hitachi (Japan), Trallfa (Norway), Puma (Unimation), ASEA (Sweden), Volkswagen and Kuka (Germany) has a total of sixty-four extreme distances.

Noncontact Hold and Transfer Control by a Two-link Robot Arm with a Magnetic Robot Hand

1999 ◽  
Vol 11 (4) ◽  
pp. 331-335
Author(s):  
Hiroyuki Kojima ◽  
◽  
Osamu Itagaki ◽  
Toshio Kobayashi
Keyword(s):  
Disturbance Observer ◽  
High Performance ◽  
Current Sensor ◽  
Robot Hand ◽  
Robot Arm ◽  
Excitation Current ◽  
Steel Sphere ◽  
Disturbance Cancellation ◽  
Precision Tracking ◽  
Hall Element

We developed a two-link robot arm with a magnetic hand constructed from an electromagnet and a gap sensor. The sensor consists of an excitation current sensor and a Hall element. We then designed noncontact hold and transfer control consisting of a magnetic H∞ robust levitation controller of the steel sphere using the robot hand and a high-precision tracking controller using a disturbance cancellation controller based on a disturbance observer. The magnetic H∞ robust levitation controller is designed using normalized caprice factorization. We conducted an experiments on non contact hold and transfer control of the steel sphere and demonstrated the high performance of control using the 2-link robot arm and the magnetic robot hand.

scholarly journals Controlling of Robot Hand by Using Microcontroller with Visual Basic

2018 ◽  
Vol 15 (2) ◽  
pp. 648-655
Author(s):  
Huda Hatam Dalef ◽  
Faieza Abdul Aziz ◽  
Wan Zuha Wan Hasan ◽  
Mohd Khairol Anuar Mohd Ariffin
Keyword(s):  
Industrial Robot ◽  
Visual Basic ◽  
Empirical Method ◽  
Robot Hand ◽  
Robot Arm ◽  
Robot Controller ◽  
Computer Based ◽  
Robot Configuration ◽  
Configuration Changes ◽  
Better Than

The robot arm is the most popular robotic form used in industry. Thus, it is crucial to make a system programming which could controlled the movement of each part in the industrial robot to make it works properly. One of the simplest models of the robot arm is EDARM ED-7100 which has a controller to control the movement of the robot arm manually. In this study, the robot controller has been redesigned in order to improve this robot's function. The new controller system used AT89S52 microcontroller which has wire connected to the robot hand. A function has been added with this controller to improve the system of controlling and becomes better than the previous system (only manually). The functions of the new system include three modes for operating: manual, automatic, and computer-based. Mathematical model has been derived through an empirical method to specify the robot configuration changes. It was found from the experiment that the robot arm's movement is following a linear function.

scholarly journals Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1595 ◽  
Author(s):  
Shan-Qian Ji ◽  
Ming-Bao Huang ◽  
Han-Pang Huang
Keyword(s):  
Real Time ◽  
Online Algorithm ◽  
Sensor Data ◽  
Control Action ◽  
Robot Hand ◽  
Robot Arm ◽  
Damping Properties ◽  
Different Types ◽  
Sensor Information ◽  
Grasp Quality

Robots frequently need to work in human environments and handle many different types of objects. There are two problems that make this challenging for robots: human environments are typically cluttered, and the multi-finger robot hand needs to grasp and to lift objects without knowing their mass and damping properties. Therefore, this study combined vision and robot hand real-time grasp control action to achieve reliable and accurate object grasping in a cluttered scene. An efficient online algorithm for collision-free grasping pose generation according to a bounding box is proposed, and the grasp pose will be further checked for grasp quality. Finally, by fusing all available sensor data appropriately, an intelligent real-time grasp system was achieved that is reliable enough to handle various objects with unknown weights, friction, and stiffness. The robots used in this paper are the NTU 21-DOF five-finger robot hand and the NTU 6-DOF robot arm, which are both constructed by our Lab.

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