Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments

We describe the implementation of a bespoke two arm hydraulically actuated robotic platform which is used to semi-autonomously cut approximately 50 mm diameter pipes of three different materials: cardboard, ABS plastic and aluminium. The system is designed to be utilised within radiologically active environments where human access is limited due to dose limits and thus remote operation is greatly beneficial. The remotely located operator selects the object from an image via a bespoke algorithm featuring a COTS 3 D vision system, along with the desired positions for gripping with one manipulator, and cutting with the other. A pseudo-Jacobian inverse kinematic technique and a programmable automation controller are used to achieve the appropriate joint positions within the dual arm robotic platform. In this article, we present the latest developments to the system and the lessons learnt from the new cutting experiments with a reciprocating saw. A comparison to tele-operated control and manual cutting is also made, with this technique shown to be slower than manual cutting, but faster than pure tele-operational control, where the requirements for highly trained users and operator fatigue are further deleterious factors.

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Inverse kinematics-based motion planning for dual-arm robot with orientation constraints

International Journal of Advanced Robotic Systems ◽

10.1177/1729881419836858 ◽

2019 ◽

Vol 16 (2) ◽

pp. 172988141983685 ◽

Cited By ~ 2

Author(s):

Jiangping Wang ◽

Shirong Liu ◽

Botao Zhang ◽

Changbin Yu

Keyword(s):

Motion Planning ◽

Joint Space ◽

Inverse Kinematic ◽

Planning Problem ◽

Constraint Manifold ◽

Wide Range ◽

Planning Algorithm ◽

Motion Paths ◽

Dual Arm Robot ◽

Dual Arm

This article proposes an efficient and probabilistic complete planning algorithm to address motion planning problem involving orientation constraints for decoupled dual-arm robots. The algorithm is to combine sampling-based planning method with analytical inverse kinematic calculation, which randomly samples constraint-satisfying configurations on the constraint manifold using the analytical inverse kinematic solver and incrementally connects them to the motion paths in joint space. As the analytical inverse kinematic solver is applied to calculate constraint-satisfying joint configurations, the proposed algorithm is characterized by its efficiency and accuracy. We have demonstrated the effectiveness of our approach on the Willow Garage’s PR2 simulation platform by generating trajectory across a wide range of orientation-constrained scenarios for dual-arm manipulation.

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Using an RBF network with regularly-spaced position centres to approximate the inverse kinematic of a robot-vision system

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA) ◽

10.1109/iciea.2012.6361075 ◽

2012 ◽

Author(s):

Bach H. Dinh

Keyword(s):

Vision System ◽

Robot Vision ◽

Inverse Kinematic ◽

Rbf Network

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2P1-P04 Development of Remote Operation System of High-Power Dual Arm Robot Controlled by Telexistence FST(VR and Interface)

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2012._2p1-p04_1 ◽

2012 ◽

Vol 2012 (0) ◽

pp. _2P1-P04_1-_2P1-P04_4

Author(s):

Akio NAMIKI ◽

Mingyuan GAO ◽

Sakyo MATSUSHITA ◽

Naoki ITO ◽

Toru TANAKA ◽

...

Keyword(s):

High Power ◽

Operation System ◽

Remote Operation ◽

Dual Arm Robot ◽

Dual Arm

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Behavior Trees for Evolutionary Robotics

Artificial Life ◽

10.1162/artl_a_00192 ◽

2016 ◽

Vol 22 (1) ◽

pp. 23-48 ◽

Cited By ~ 14

Author(s):

Kirk Y. W. Scheper ◽

Sjoerd Tijmons ◽

Cornelis C. de Visser ◽

Guido C. H. E. de Croon

Keyword(s):

Success Rate ◽

Real World ◽

Motor Coordination ◽

Vision System ◽

Evolutionary Robotics ◽

Robotic Platform ◽

User Adaptation ◽

Air Vehicle ◽

Behavior Tree ◽

Behavior Trees

Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this article we show the first application of the Behavior Tree framework on a real robotic platform using the evolutionary robotics methodology. This framework is used to improve the intelligibility of the emergent robotic behavior over that of the traditional neural network formulation. As a result, the behavior is easier to comprehend and manually adapt when crossing the reality gap from simulation to reality. This functionality is shown by performing real-world flight tests with the 20-g DelFly Explorer flapping wing micro air vehicle equipped with a 4-g onboard stereo vision system. The experiments show that the DelFly can fully autonomously search for and fly through a window with only its onboard sensors and processing. The success rate of the optimized behavior in simulation is 88%, and the corresponding real-world performance is 54% after user adaptation. Although this leaves room for improvement, it is higher than the 46% success rate from a tuned user-defined controller.

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Robotic vision system for random bin picking with dual-arm robots

MATEC Web of Conferences ◽

10.1051/matecconf/20167507003 ◽

2016 ◽

Vol 75 ◽

pp. 07003 ◽

Cited By ~ 3

Author(s):

Sangseung Kang ◽

Kyekyung Kim ◽

Jaeyeon Lee ◽

Joongbae Kim

Keyword(s):

Vision System ◽

Robotic Vision ◽

Bin Picking ◽

Dual Arm

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Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain

International Journal of Humanoid Robotics ◽

10.1142/s0219843615500474 ◽

2016 ◽

Vol 13 (01) ◽

pp. 1550047 ◽

Cited By ~ 5

Author(s):

Yuquan Wang ◽

Christian Smith ◽

Yiannis Karayiannidis ◽

Petter Ögren

Keyword(s):

Degrees Of Freedom ◽

Kinematic Chain ◽

Inverse Kinematic ◽

Whole Body ◽

Kinematic Structure ◽

The Common ◽

Parallel Kinematic ◽

Programming Solution ◽

Dual Arm ◽

Mobile Base

Dual-arm manipulators have more advanced manipulation abilities compared to single-arm manipulators and manipulators mounted on a mobile base have additional mobility and a larger workspace. Combining these advantages, mobile dual-arm robots are expected to perform a variety of tasks in the future. Kinematically, the configuration of two arms that branches from the mobile base results in a serial-to-parallel kinematic structure. In order to respond to external disturbances, this serial-to-parallel kinematic structure makes inverse kinematic computations non-trivial, as the motion of the base has to take the needs of both arms into account. Instead of using the dual-arm kinematics directly, we propose to use a virtual kinematic chain (VKC) to specify the common motion of the two arms. We formulate a constraint-based programming solution which consists of two parts. In the first part, we use an extended serial kinematic chain including the mobile base and the VKC to formulate constraints that realize the desired orientation and translation expressed in the world frame. In the second part, we use the resolved VKC motion to constrain the common motion of the two arms. In order to explore the redundancy of the two arms in an optimization framework, we also provide a VKC-oriented manipulability measure as well as its closed-form gradient. We verify the proposed approach with simulations and experiments that are performed on a PR2 robot, which has two 7 degrees of freedom (DoF) arms and a 3 DoF mobile base.

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Development control system robotic platform for horticulture

E3S Web of Conferences ◽

10.1051/e3sconf/202126201024 ◽

2021 ◽

Vol 262 ◽

pp. 01024

Author(s):

Dmitriy Khort ◽

Alexey Kutyrev ◽

Rostislav Filippov ◽

Stepan Semichev

Keyword(s):

Control System ◽

Vision System ◽

Control Unit ◽

Weather Conditions ◽

Robotic Platform ◽

Satellite Navigation System ◽

Central Computer ◽

Electronic Control System ◽

Robotic Vehicle ◽

Differential Control

The article presents a control system for a robotic platform for horticulture. The electronic control system consists of a running engine control unit, a stepper motor steering unit, an electronic differential control unit, a power plant automatic on / off control unit, and battery charging balancing. The developed control system of the robotic vehicle contains a central computer that collects information from sensors and sensors, processes it and transmits control signals to the drives of the machine movement. The movement of the robotic platform is carried out both by a radio signal with a remote control, and in offline mode on a pre-set map of the area according to data from the GLONASS/GPS differential receiver of the satellite navigation system. It is also possible to independently control the movement of a robotic platform using a vision system. The autonomy of the robotic platform provides 10 hours of continuous operation in low-light conditions in various weather conditions.

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