scholarly journals End effector position calculation with the ANN for tapping machine

2021 ◽  
Vol 9 (3B) ◽  
Author(s):  
Gullu Akkas ◽  
◽  
Ihsan Korkut ◽  
Murat Tolga Ozkan ◽  
◽  
...  
Keyword(s):  
Artificial Intelligence ◽  
Position Control ◽  
Robot Manipulator ◽  
High Reliability ◽  
Future Research ◽  
Robot Arm ◽  
Labor Costs ◽  
End Effector ◽  
Cartesian Space ◽  
End Point

Nowadays, manufacturers give importance to the production of machines that allow for faster production, reduce labor costs, and minimize operation errors to meet the increasing demand. The search for such machines leads the manufacturing sector to automation. In this study, an automation-supported tapping machine prototype was manufactured. Kinematic equations were used for determining the location of the end effector in Cartesian space, whereas inverse kinematic equations were used for angular positions in joint space relative to positions in Cartesian space. Based on the results of the kinematic equations, the data obtained in certain positions were taught to the system through ANN. The position values for the angles known through the artificial intelligence algorithm were taught to the system. Then, the position coordinates to be reached by this manipulator, which has four degrees of freedom, for the intermediate position coordinate values through artificial neural networks (ANN) have been obtained. It is expected that the device controlled by artificial intelligence will not be affected by the variables in parameter or force changes requiring high working performance. With the control of the positions through ANN, it has been ensured that the position control of the tapping robot manipulator is predicted based on artificial intelligence techniques depending on the angle values of the limbs, and the robot is prevented from going to a position that is on a different trajectory. Accordingly, the robot arm has been made controllable with ANN techniques. With ANN modelling, the position of the end point to perform the tapping process was estimated with high reliability. For future research, a rough simulation was made to see whether the end point would go to a different position in space.

A hybrid impedance control scheme for underwater welding robots with a passive foundation in the controller domain

SIMULATION ◽  
2017 ◽  
Vol 93 (7) ◽  
pp. 619-630 ◽  
Author(s):  
Sunil Kumar ◽  
Vikas Rastogi ◽  
Pardeep Gupta
Keyword(s):  
Minimum Distance ◽  
Position Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Graph Model ◽  
Proportional Integral Derivative ◽  
End Effector ◽  
Flexible Arm ◽  
Control Scheme ◽  
Effective Stability

A hybrid impedance control scheme for the force and position control of an end-effector is presented in this paper. The interaction of the end-effector is controlled using a passive foundation with compensation gain. For obtaining the steady state, a proportional–integral–derivative controller is tuned with an impedance controller. The hybrid impedance controller is implemented on a terrestrial (ground) single-arm robot manipulator. The modeling is done by creating a bond graph model and efficacy is substantiated through simulation results. Further, the hybrid impedance control scheme is applied on a two-link flexible arm underwater robot manipulator for welding applications. Underwater conditions, such as hydrodynamic forces, buoyancy forces, and other disturbances, are considered in the modeling. During interaction, the minimum distance from the virtual wall is maintained. A simulation study is carried out, which reveals some effective stability of the system.

scholarly journals Desain Fuzzy Logic Controller Untuk Pengendali Pergerakan Mobile Manipulator

2020 ◽  
Vol 1 (01) ◽  
pp. 12-18
Author(s):  
Putri Repina Kesuma ◽  
Tresna Dewi ◽  
RD Kusumanto ◽  
Pola Risma ◽  
Yurni Oktarina
Keyword(s):  
Artificial Intelligence ◽  
Fuzzy Logic ◽  
Mobile Robot ◽  
Fuzzy Logic Controller ◽  
Robot Manipulator ◽  
Human Life ◽  
Agricultural Products ◽  
Mobile Manipulator ◽  
Robot Arm

Technology is developing more and more to facilitate human life. Technology enables automation in all areas of life, and robots are among the most frequently used machines in automation. Robots can help with human work in all fields, including agriculture. A mobile robot manipulator is a combination of a robot arm and a mobile robot so that this type of robot can combine the capabilities of the two robots. This paper discusses the design of a robot manipulator to be used in agriculture to replace farmers in the harvesting of agricultural products, such as tomatoes. This paper presents a mechanical, electrical design and uses the Fuzzy Logic Controller as artificial intelligence. The feasibility of the proposed method is demonstrated by simulation in Mobotsim.

scholarly journals Cartesian space robot manipulator clamping movement in ROS simulation and experiment

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Longtao Mu ◽  
Yunfei Zhou ◽  
Tiebiao Zhao
Keyword(s):  
Motion Planning ◽  
Position Control ◽  
Robot Manipulator ◽  
Robotic Arm ◽  
Robot Motion ◽  
Robot Arm ◽  
Operation System ◽  
Model File ◽  
Simulation And Experiment ◽  
Tool Centre Point

Abstract This paper studies the robot arm sorting position control based on robot operation system (ROS), which works depending on the characteristics of the robot arm sorting operation using the top method, to automate the sorting operation and improve the work efficiency of workpiece sorting. Through the ROS MoveIt! module, the sorting pose and movement path of the robotic arm are planned, the inverse kinematics of the sorting robotic arm is solved, and the movement pose characteristics of the sorting robotic arm are analysed. The robot arm model was created using Solidworks software, and the URDF model file of the robot arm was exported through the sw2urdf plugin conversion tool, and the parameters were configured. Based on ROS for 6-degree-of-freedom (DOF) robot motion simulation, random extended tree (RRT) algorithm from open motion planning library (OMPL) is selected. The robot motion planning analysis and sorting manipulator drive UR5 manipulator. The results show that the sorting pose and motion trajectory of the robot arm are determined by controlling the sorting pose of the sorting robot arm, and the maximum radius value of the tool centre point (TCP) rotation of the robot arm and the position of the workpiece are obtained. This method can improve the success rate of industrial sorting robots in grabbing objects. This analysis is of great significance to the research of robots’ autonomous object grabbing.

Robot Manipulator Vibration Resistance Control Based on Physical Model

2020 ◽  
Author(s):  
Ting-Sheng Chen ◽  
Jen-Yuan (James) Chang
Keyword(s):  
Control Method ◽  
Robot Manipulator ◽  
Path Following ◽  
Position Error ◽  
Machining Accuracy ◽  
Robot Arm ◽  
End Effector ◽  
Vibration Resistance ◽  
Mass Spring ◽  
Accuracy And Repeatability

Abstract The overwhelming manufacturing process with robotic arm has replaced human labors in handling and manufacturing work-pieces in factories. In these years, higher accuracy and repeatability are required for robotic manipulators to perform processes such as welding, deburring and grinding in factories. In these path-following processes, the manipulator’s end-effector often encounter position error caused by its vibrating structures. Therefore, the quality of machining accuracy and surface roughness becomes unstable and unsatisfied. For the purpose of avoiding the vibrations to occur in the robotic manipulator, this study aims to design a control method to reduce vibrations which is divided into two parts, namely (1) dynamic modeling the robot arm by applying modified mass-spring-damper model to each joints and links of the robot arm, and (2) realizing the control of the robot arm’s vibration resistance with predicated dynamics to compensate for the undesired dynamics, respectively. Through the proposed model, the response of each joints in different postures and different payloads applied at the end effector can be fully analyzed and the vibrations can be predicted and compensated. Results with the proposed vibration resistance control method indicate improvement of the model robot arm’s dynamic position error.

A13 Basic Research of End Point Position Control for Two Links Flexible Robot Arm

2009 ◽  
Vol 2009.11 (0) ◽  
pp. 167-170
Author(s):  
Kiyoharu NAKAGAWA ◽  
Ryouta AIKAWA ◽  
Toru WATANABE ◽  
Kazuto SETO
Keyword(s):  
Position Control ◽  
Basic Research ◽  
Robot Arm ◽  
Flexible Robot ◽  
Point Position ◽  
End Point

Mechatronic robot arm with active vibration absorbers

2020 ◽  
Vol 26 (13-14) ◽  
pp. 1145-1156 ◽  
Author(s):  
Karel Kraus ◽  
Zbyněk Šika ◽  
Petr Beneš ◽  
Jan Krivošej ◽  
Tomáš Vyhlídal
Keyword(s):  
Vibration Suppression ◽  
High Accuracy ◽  
Robot Arm ◽  
Frequency Range ◽  
Flexible Robot ◽  
Linear Quadratic ◽  
Mass System ◽  
End Effector ◽  
End Point ◽  
Serial Robots

Serial robots are typically able to cover large workspace, but their mass/stiffness ratio does not allow combining high accuracy and high dynamic of the end effector operations. Widely spread usage of serial robots, even for tasks such as drilling, leads to high accuracy demands through its workspace. Absolute measurement of the end point for position feedback can be challenging due to objects or even a workpiece in the workspace. Moreover, inbuilt motors of the serial robot cannot response in the frequency range high enough as vibration of the end point. Instead, an additional spring–mass system is attached to the robot to suppress vibrations. The narrow frequency range of a passive dynamic absorber can be extended with active elements between the robot and absorber. An active approach is also necessary because of robots eigenfrequencies and eigenmodes variability. The study deals with a planar flexible robot equipped with a three-degree-of-freedom planar active absorber. The absorber is tuned passively to one value of multiple eigenfrequency. The linear-quadratic regulator control with a state observer has been designed as an active absorber control algorithm. Feedback inputs are absorber body acceleration, end effector acceleration, and relative motions in three absorber actuators realized by voice coils. The end effector vibration suppression along the robot trajectory is achieved using gain scheduling of local controller’s outputs.

Kinematic Modeling and Hardware Development of 5-DoF Robot Manipulator

2014 ◽  
Vol 612 ◽  
pp. 51-58
Author(s):  
Kumar Patel Dharmendra ◽  
K. Ramachandra ◽  
Singh Sartaj
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Robot Arm ◽  
Trigonometric Functions ◽  
Kinematic Modeling ◽  
Positional Accuracy ◽  
End Effector ◽  
Hardware Development ◽  
Articulated Robot

This paper presents a 5-DoF articulated robot manipulator and proposes a strategy for solving its inverse kinematics. The Denavit – Hartenberg (D-H) parameterization has been used to model the kinematics of the manipulator. As degree of freedom of manipulator increases, the geometrical solution for inverse kinematics becomes difficult; hence an analytical method for the same is presented. Novelty in the method presented is that no approximations of trigonometric functions are used resulting in a theoretical positional accuracy of 10-10mm of the end-effector. The articulated robotic manipulator developed makes use of integrated actuators and rapid prototyping technology enabling easy replication for educational purposes. The robot arm has been used for manipulation tasks in its workspace successfully.

Robust Impedance Control for Robot Manipulator

1991 ◽  
Vol 3 (6) ◽  
pp. 470-474
Author(s):  
Yoshiharu Nishida ◽  
◽  
Takashi Harada ◽  
Nobuaki Imamura ◽  
Nobuo Kimura
Keyword(s):  
Disturbance Observer ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Joint Space ◽  
Experimental Results ◽  
Control Methods ◽  
Robust Controller ◽  
End Effector ◽  
Cartesian Space ◽  
Modeling Errors

In most robust impedance control methods, error factors such as disturbances and modeling errors in the joint space are dealt with. However, the dynamics for an end effector of the manipulator in the Cartesian space is more important than that of the manipulator in the joint space. In this paper, error factors are described in the Cartesian space, and the influence of these factors on the dynamics of the end-effector are considered. A robust controller is designed using either feedback of impedance error or a disturbance observer based on the Cartesian space, and its effectiveness is confirmed through experimental results.

A Cartesian Workspace Generator for Robot Arm Workcell Obstacle Collision Avoidance

1991 ◽  
Author(s):  
Tak-Lai Daryl Luk ◽  
John E. Sneckenberger
Keyword(s):  
Free Space ◽  
Robot Manipulator ◽  
Joint Space ◽  
Robot Arm ◽  
New Approach ◽  
Cartesian Space ◽  
Manipulator Arm ◽  
Arm Motion ◽  
Space Boundary ◽  
Crank Mechanism

Abstract Most of the methods for planning collision-free robot manipulator arm morions to accomplish collision-free end-effector paths are based on explicit representation of the sub-space of the robot work space that is free of arm motion with obstacles collision. This sub-space is called the robot arm free space and most path planners represent this free space in joint space. If the robot arm free space is represented in joint space, then each point in the free space corresponds to a robot arm configuration for which no arm-obstacle collision occurs. This paper presents a new approach for generating the robot arm free space for an articulated type robot manipulator. This approach uses an oscillating slider crank mechanism for defining the free-space boundary when certain arm-obstacle collisions occurs. The robot arm free space, importantly, is generated in Cartesian space instead of joint space.

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