scholarly journals Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach

2022 ◽  
Vol 12 (1) ◽  
pp. 419
Author(s):  
Ferdinando Vitolo ◽  
Andrea Rega ◽  
Castrese Di Marino ◽  
Agnese Pasquariello ◽  
Alessandro Zanella ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
System Development ◽  
Industrial Applications ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Domain Modeling ◽  
Safety Level ◽  
Robot Systems ◽  
And Control

Enabling technologies that drive Industry 4.0 and smart factories are pushing in new equipment and system development also to prevent human workers from repetitive and non-ergonomic tasks inside manufacturing plants. One of these tasks is the order-picking which consists in collecting parts from the warehouse and distributing them among the workstations and vice-versa. That task can be completely performed by a Mobile Manipulator that is composed by an industrial manipulator assembled on a Mobile Robot. Although the Mobile Manipulators implementation brings advantages to industrial applications, they are still not widely used due to the lack of dedicated standards on control and safety. Furthermore, there are few integrated solutions and no specific or reference point allowing the safe integration of mobile robots and cobots (already owned by company). This work faces the integration of a generic mobile robot and collaborative robot selected from an identified set of both systems. The paper presents a safe and flexible mechatronic interface developed by using MBSE principles, multi-domain modeling, and adopting preliminary assumptions on the hardware and software synchronization level of both involved systems. The interface enables the re-using of owned robot systems differently from their native tasks. Furthermore, it provides an additional and redundant safety level by enabling power and force limiting both during cobot positioning and control system faulting.

MOBILE ROBOT NAVIGATION CONTROL DESIGN USING VIRTUAL SIMULATOR WITH RAPID PROTOTYPING

2009 ◽  
Vol 06 (03) ◽  
pp. 181-191
Author(s):  
LEONIMER FLAVIO DE MELO ◽  
JOSE FERNANDO MANGILI
Keyword(s):  
Rapid Prototyping ◽  
Mobile Robot ◽  
Embedded System ◽  
Mobile Robots ◽  
Mobile Robot Navigation ◽  
Robotic Control ◽  
Dynamic Simulator ◽  
The Embedded System ◽  
And Control ◽  
Control Implementation

This paper presents the virtual environment implementation for simulation and design conception of supervision and control systems for mobile robots, that are capable to operate and adapt in different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with monitoring in real time of all important system points. For this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module, and an analysis module of results and errors. All the kinematic and dynamic results obtained during the simulation can be evaluated and visualized in graphs and table formats in the results analysis module, allowing the improvement of the system, minimizing the errors with the necessary adjustments and optimization. For controller implementation in the embedded system, it uses the rapid prototyping which is the technology that allows in set, with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplished with nonholonomic mobile robot models with differential transmission.

Trajectory control of a mobile manipulator in the presence of base disturbance

SIMULATION ◽  
2018 ◽  
Vol 95 (6) ◽  
pp. 529-543 ◽  
Author(s):  
RV Ram ◽  
PM Pathak ◽  
SJ Junco
Keyword(s):  
Mobile Robot ◽  
Dynamic Models ◽  
Control Strategies ◽  
Effective Control ◽  
Mobile Manipulator ◽  
Dynamic Interactions ◽  
Additional Task ◽  
Manipulator Arm ◽  
And Control ◽  
Base Disturbance

A mobile manipulator is typically an assembly of a mobile robot base and an on-board manipulator arm. As the manipulator arm is mounted over the mobile robot base, the controller has the additional task of taking care of the disturbances of the mobile robot due to the dynamic interactions between the mobile robot base and manipulator arm. In the present work, dynamic models for the manipulator arm and an omni-wheeled mobile robot base were developed separately and then both were combined. Two control strategies, namely only manipulator arm control (OMAC) and simultaneous manipulator and base control (SMBC) were developed for the effective control of tip trajectory. In both strategies, an amnesia recovery coupled with classical proportional integral and derivative (PID) control was used. The bond graph methodology was used for the development of the dynamic model and control for the mobile manipulator. Simulation results are presented to illustrate the efficacy of the two control strategies.

SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS

1993 ◽  
Vol 07 (01) ◽  
pp. 123-144 ◽  
Author(s):  
CHUXIN CHEN ◽  
MOHAN M. TRIVEDI
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Virtual World ◽  
Control Environment ◽  
Robot System ◽  
Interactive Control ◽  
Dynamic Motion ◽  
Unique System ◽  
Software Modules ◽  
And Control

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

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 A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 441
Author(s):  
Daniel Feliu-Talegon ◽  
Andres San-Millan ◽  
Vicente Feliu-Batlle
Keyword(s):  
Control Strategy ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
The Real ◽  
And Control ◽  
Mobile Base

This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a mobile platform. This work is focused on the description of the mobile platform, the development of a new kinematic model and the design of a control strategy for the system. The proposed kinematic model and control strategy are validated by means of experimentation using the real prototype. The workspace of the system is also defined.

Localization and Control System of Mobile Robot Based on Wireless Sensor Network

2009 ◽  
Vol 16-19 ◽  
pp. 1133-1137
Author(s):  
Li Xin Guo ◽  
Qiu Ye Huang ◽  
Hua Long Xie ◽  
Jin Li Li ◽  
Zhao Wen Wang
Keyword(s):  
Wireless Sensor Network ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Sensor Network ◽  
Static Condition ◽  
Wireless Sensor ◽  
Mobile Object ◽  
Wireless Localization ◽  
Localization System ◽  
And Control

The localization of mobile robots is one of important problems for navigation of mobile robots. The wireless sensor network, i.e., Cricket wireless localization technology, was used to obtain motive condition of mobile objects in this study. The information transmission between the Cricket localization system and mobile robot system was achieved for localization, navigation and control of the mobile object. The errors of localization sampling data of the Cricket localization system vary within 3cm in a static condition. The Cricket localization system can meet the navigation requirement of the mobile robots.

Sub-optimal trajectory planning for mobile manipulators

Robotica ◽  
2014 ◽  
Vol 33 (6) ◽  
pp. 1181-1200 ◽  
Author(s):  
Grzegorz Pajak ◽  
Iwona Pajak
Keyword(s):  
Optimal Trajectory ◽  
Control Algorithm ◽  
Nonholonomic Constraints ◽  
Mobile Manipulator ◽  
Reference Trajectory ◽  
Mobile Manipulators ◽  
Control Constraints ◽  
Manipulability Measure ◽  
And Control ◽  
Optimal Trajectory Planning

SUMMARYThis paper presents a method of planning a sub-optimal trajectory for a mobile manipulator subject to mechanical and control constraints. The path of the end-effector is defined as a curve that can be parameterised 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. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. To avoid manipulator singularities, the motion of the robot is planned in order to maximise the manipulability measure.

scholarly journals Collision-Free Trajectory Planning for Mobile Manipulators Subject to Control Constraints

2014 ◽  
Vol 61 (1) ◽  
pp. 35-55
Author(s):  
Grzegorz Pajak ◽  
Iwona Pajak
Keyword(s):  
Three Dimensional ◽  
Nonholonomic Constraints ◽  
Mobile Manipulator ◽  
Reference Trajectory ◽  
Mobile Manipulators ◽  
Control Constraints ◽  
Redundancy Resolution ◽  
Manipulability Measure ◽  
Point To Point ◽  
And Control

Abstract A method of planning collision-free trajectory for a mobile manipulator tracking a line section path is presented. The reference trajectory of a mobile platform is not needed, mechanical and control constraints are taken into account. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. The problem is shown to be equivalent to some point-to-point control problem whose solution may be easier determined. The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. A computer example involving a mobile manipulator consisting of a nonholonomic platform (2,0) class and a 3 DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.

scholarly journals Bluetooth Transceivers for Full Duplex Communications in Mobile Robots

2012 ◽  
Author(s):  
Choo S. H. ◽  
Shamsudin H M. Amin ◽  
N. Fisal ◽  
C. F. Yeong ◽  
J. Abu Bakar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Key Words ◽  
Control Unit ◽  
Full Duplex ◽  
Communication Mode ◽  
And Control

Projek ini mengeksplotasi penggunaan Teknologi Bluetooth dalam robot mudah alih. Robot mudah alih mempunyai kebolehan untuk bergerak secara automasi menggunakan algoritma yang rumit dan canggih. Algoritma disimpan dalam sebuah komputer sebagai tuan dan juga “server”. Segala bacaan penderia daripada robot mudah alih akan dihantar kepada tuan dan diproses. Kemudian, arahan untuk langkah seterusnya akan dihantar dari “server” kepada robot mudah alih dalam mode komunikasi dua hala dan dupleks penuh. Maka, “otak” utama berada di "server" dan bukannya pada robot mudah alih. Kertas ini akan memfokus pada perantaraan muka antara Bluetooth transceiver dan Handy Board MC68HC11 mikro pengawal pada robot mudah alih. Untuk kes biasa, satu penerima dan penghantar diperlukan untuk setiap alat (server dan client) masing-masing, tetapi dengan Teknologi Bluetooth, hanya dua Bluetooth transceiver diperlukan untuk mencapai perhubungan dupleks penuh. Projek ini telah menghasilkan robot mudah alih dengan kebolehan Bluetooth. Robot tersebut boleh dikawal secara “wirelessly” melalui Bluetooth transceiver. Kata kunci: Teknologi Bluetooth; dua hala; duplex penuh; automasi; Handy Board This work explores the implementation of Bluetooth technology in mobile robots. The mobile robot has the capability to move around autonomously using complicated and powerful algorithm. The algorithms are stored in the master as the server. All sensor readings from the mobile robot will be transmitted to the master and processed. Then, command or instruction for further action is transmitted from the server to the mobile robot in a bi-directional full duplex communication mode. Hence, the main “brain” is in the server instead of the mobile robot. This paper will focus on the interfacing between Bluetooth tranceiver and Handy Board MC68HC11 micro-controller of mobile robot. For common case, a receiver and transmitter are needed for each device (robot and control unit), but with Bluetooth technology, only two Bluetooth transceivers are needed to achieve full duplex connection. This project has provided a Bluetooth enabled mobile robot. The mobile robot can be controled wirelessly via Bluetooth transceiver. Key words: Bluetooth Technology; bi-directional; full duplex; autonomously; Handy Board

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