Control Characteristics of Haptic Exoskeleton Elbow Module Used in Space Robotised Applications

2014 ◽  
Vol 658 ◽  
pp. 654-659 ◽  
Author(s):  
Marius Mateas ◽  
Erwin Christian Lovasz ◽  
Dan Mărgineanu ◽  
Valentin Ciupe ◽  
Eugen Sever Zabava ◽  
...  
Keyword(s):  
Performance Indicators ◽  
Haptic Device ◽  
Torque Measurement ◽  
Space Operations ◽  
Position Accuracy ◽  
Force Reaction ◽  
Calibration Methods ◽  
Static Relaxation ◽  
Acceleration Force ◽  
Position And Orientation

In this paper the authors present some considerations regarding the necessity and the methods to calibrate an exoskeleton elbow module. Prior researches and studies are indicating that there is a difference between the haptic device force reaction and situation (position and orientation) and similar parameters at the level of the guided or slave robot. The authors are investigating the causes of the pose accuracy and force errors knowing the fact that for some space operations the fidelity of the teleoperation the geometric, kinematic and dynamic parameters are of great importance. The authors propose the measurement of the position accuracy, position repeatability, static relaxation under load, speed and acceleration, force and torque measurement in order to obtain a real correlation between the haptic device and the space robot parameters. Also the authors are considering the investigation of the unwanted vibration and the effect on the teleoperation parameters. Considering the importance of calibration for the improvement of the general accuracy of teleoperation the authors are taking into account the development of several performance indicators as a consequence of the conclusions emerged from the calibration methods study above mentioned. Also they consider very important that the calibration methods must be specific for each application category and therefore moderated performance indicators are envisaged.This template explains and demonstrates how to prepare your camera-ready paper for Trans Tech Publications. The best is to read these instructions and follow the outline of this text.

A robotic boring system for intersection holes in aircraft assembly

2018 ◽  
Vol 45 (3) ◽  
pp. 328-336 ◽  
Author(s):  
Yingjie Guo ◽  
HuiYue Dong ◽  
Guifeng Wang ◽  
Yinglin Ke
Keyword(s):  
Optimization Method ◽  
Northwest China ◽  
Compensation Method ◽  
Practical Case ◽  
Content Type ◽  
Aircraft Assembly ◽  
Position Accuracy ◽  
Position And Orientation ◽  
Robot Stiffness ◽  
Robotic Boring

Purpose The purpose of this paper is to introduce a robotic boring system for intersection holes in aircraft assembly. The system is designed to improve the boring quality and position accuracy of the intersection holes. Design/methodology/approach To improve the boring quality of intersection holes, a robot posture optimization model is established. The target of the model is to maximize the robot stiffness and the variate is location of the robot on the guideway. The model is solved by the iterative IKP algorithm based on the Jacobian matrix. To improve the position accuracy of intersection holes, a robot positioning accuracy compensation method is introduced. In the method, a laser tracker is used to measure the actual position and orientation of the boring bar. Combined with the desired position and orientation, the error can be obtained and compensated. Findings In practical case of the robotic boring system, the robot stiffness is effectively improved and the surface roughness of intersection holes achieves a grade of Ra0.8. Besides, the robot end achieves a position accuracy of 0.05 mm and an orientation accuracy of 0.05°. Practical implications The robotic boring system has been applied successfully in one of the aircraft assembly projects in northwest China. Originality/value The robotic boring system can be applied for machining intersection holes in an aircraft assembly. With the robot posture optimization method and accuracy compensation method, the boring quality and position accuracy of the intersection holes can be guaranteed.

Maximum Virtual Stiffness Distribution Analysis and Measurement for Haptic Device

2009 ◽  
Author(s):  
Xiaowei Dai ◽  
Yuru Zhang ◽  
Dangxiao Wang
Keyword(s):  
Virtual Environment ◽  
Joint Space ◽  
Performance Measure ◽  
Haptic Device ◽  
Distribution Analysis ◽  
Haptic Interaction ◽  
Position And Orientation ◽  
Virtual Stiffness ◽  
Eigenvalue And Eigenvector ◽  
Stiffness Distribution

Maximum virtual stiffness is a critical performance measure for haptic devices. Stable haptic interaction is necessary for realistic feeling of virtual environment. The virtual environment is determined by the application and device. To ensure the stable haptic interaction, the virtual environment must be suitable for the device. Therefore, the virtual stiffness should not be greater than the minimum value of maximum virtual stiffness that a haptic device can stably render in the workspace. This paper proposes a method, utilizing the eigenvalue and eigenvector of stiffness matrix in joint space, to analyze and measure the maximum virtual stiffness distribution in the work space of a haptic device. Therefore, for a given haptic device, the maximum virtual stiffness at each position and orientation can be forecasted by this method. A new sufficient condition for haptic stability is also presented in the view of driven motor in this paper. A series experiments validate the effectiveness of this method.

Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly

2014 ◽  
Vol 8 (3) ◽  
pp. 452-459 ◽  
Author(s):  
Ryoya Kamata ◽  
◽  
Ryosuke Tamura ◽  
Satoshi Niitsu ◽  
Hiroshi Kawaharada ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Haptic Device ◽  
Prototype System ◽  
Assembly Operation ◽  
Six Degrees Of Freedom ◽  
Controlled Assembly ◽  
Sense Of Reality ◽  
Position And Orientation ◽  
Assembly Operations

This paper describes a remote controlled assembly using a haptic device. Most haptic devices have six Degrees Of Freedom (DOFs) for a higher sense of reality. However, for assembly operation, the simultaneous motion of parts with only one or two DOFs is required, and force feedback to operators is used only to maintain contact and detect collisions among parts. This leads to the possibility of assembly operations using a haptic device with a small number of DOFs. In this paper, we propose virtual planes to perform remote control of a 6DOF assembly by way of 1DOF user operations. Virtual planes separate the DOFs for user operation and for automatically generated motions that complement the user operation DOF in each assembly operation. A prototype system was developed with a 6DOF manipulator and camera. The system allows an operator to place virtual planes in any position and orientation using a camera image of the workspace. The experiment results showed the effectiveness of the method for remote controlled assembly without geometry information on the parts.

scholarly journals Robotic TCF and rigid-body calibration methods

Robotica ◽  
1997 ◽  
Vol 15 (6) ◽  
pp. 633-644 ◽  
Author(s):  
Xuguang Wang ◽  
Edward Red
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Real Time ◽  
Inverse Kinematics ◽  
Geometric Distortion ◽  
Estimation Methods ◽  
Manufacturing Cell ◽  
Calibration Methods ◽  
Position And Orientation ◽  
End Effectors

For off-line programming to work, systematic methods must be developed to account for non-ideal performance of the parts and devices in the manufacturing cell. Although much of the literature focuses on robot inaccuracy, this paper considers practical methods for the tool control frame (TCF) calibration and rigid-body compensation required to close the inverse kinematics loop for target driven tasks.In contrast to contemporary estimation methods, a closed-form, easily automated, solution is introduced for calibrating the position and orientation (pose) of orthogonal end-effectors when the distal robot joint is revolute. This paper also considers methods for measuring and compensating the small rigid-body perturbations that result from non-repeatable part delivery systems or from geometric distortion. These methods are designed to eliminate rθ error from the rigid-body prediction and can be conducted in real-time. Without accurate TCF calibration and rigid-body compensation, even the most accurate robot will fail to complete an off-line programmed task if the task tolerances are stringent.

Performance Assessment of a 3D Cable-Driven Haptic Device

2008 ◽  
Author(s):  
Giulio Rosati ◽  
Damiano Zanotto ◽  
Aldo Rossi
Keyword(s):  
Mechanical Impedance ◽  
Haptic Device ◽  
Haptic Display ◽  
End Effector ◽  
Position Accuracy ◽  
Working Space ◽  
Spatial Systems ◽  
Haptic Displays ◽  
Pass Through ◽  
Drive Systems

Haptic displays are special devices, able to provide the sense of force or moment feedback to the human operator by rendering a variable mechanical impedance. They are widely used in Virtual Reality, teleoperation and virtual-drive systems. In this paper, the problem of measuring the force-exertion capability of a spatial cable-driven haptic display is addressed. A new set of manipulability indexes that applies to all completely restrained cable-based spatial systems is developed, by generalizing a set of indexes previously introduced for planar devices. These indexes can be used to analyze the working space of cable-based devices and/or to optimize their parameters (e.g., the locations of cable attachment points). In the paper, the set of manipulability indexes is applied to the analysis of a desktop cable-driven haptic display, called the PiRoGa5. PiRoGa5 is a 5 degree-of-freedom haptic pen, driven by 6 cables that are arranged to form two opposite pyramids, whose bases lay in two parallel planes and whose vertexes coincide with the ends of the pen-like end-effector. Wires are wound onto pulleys, pass through fixed eye-bolts, and are alternatively fixed to the upper and lower ends of the end-effector. The kinematics of the system is derived first, and position accuracy is inspected. Secondly, the new manipulability indexes are employed to determine and optimize the working space of the haptic device. Finally, a method is presented to analytically compute the wire tensions for a given wrench.

Sequential Roundoff for Improving Robot Position Accuracy

1995 ◽  
Author(s):  
Zhiming Ji
Keyword(s):  
Numerical Analysis ◽  
Inverse Kinematics ◽  
Positioning Accuracy ◽  
Actual Position ◽  
Position Accuracy ◽  
Roundoff Errors ◽  
Position And Orientation ◽  
End Effectors ◽  
Robot Position ◽  
Selection Of

Abstract A robot can only reach discrete locations within its workspace due to its finite encoder counts. Actual position and orientation reached by end-effectors are therefore the result of roundoff in the encoder counts. Traditionally the roundoff is carried out at the end of inverse kinematics, which produces the propagation and accumulation of the roundoff errors (except for Cartesian type of robot). We proposed a sequential roundoff procedure during the inverse kinematics process to compensate the roundoff errors. Numerical analysis shows that this method can lead to significant improvement in the positioning accuracy. Our study also shows that the sequence with which the inverse is carried out affects the improvement. Selection of sequence for inverse kinematics is discussed.

Calibration Methods of Planar Parallel Robot

2011 ◽  
Vol 464 ◽  
pp. 340-343
Author(s):  
Wei Da Li ◽  
Juan Li ◽  
Li Ning Sun
Keyword(s):  
Error Compensation ◽  
Calibration Method ◽  
Parallel Robot ◽  
Position Error ◽  
Experimental Results ◽  
Kinematic Calibration ◽  
Absolute Position ◽  
Position Accuracy ◽  
Calibration Methods ◽  
Means Of Measurement

Kinematic calibration is an effective method of improving robotic absolute position accuracy by means of measurement, identification and compensation etc. This paper investigates the technology of kinematic calibration and error compensation for the 2-DOF planar parallel robot. A multi-step calibration method is presented based on error itterative method and nonlinear optimum method. Experimental results indicate that the proposed method can effectively compensate position error of the robot in Oxy plane, and the absolute position error of the calibrated robot is less than 6μm.

Performance indicators for student services

1990 ◽  
Vol 18 (1) ◽  
pp. 3-12 ◽  
Author(s):  
Sally Aldridge ◽  
David Legge
Keyword(s):  
Student Services ◽  
Performance Indicators

Characteristics, Features of Development, Regional and Sectoral Determinants of High-tech Business in Russia

2017 ◽  
pp. 142-154 ◽  
Author(s):  
A. Yusupova ◽  
S. Khalimova
Keyword(s):  
Regression Analysis ◽  
Performance Indicators ◽  
Sustainability Assessment ◽  
Business Development ◽  
High Tech ◽  
Assessment Data ◽  
High Tech Sector ◽  
Fast Growing ◽  
High Level

The paper deals with the research devoted to characteristics of high tech business development in Russia. Companies’ performance indicators have been analyzed with the help of regression analysis and author’s scheme of leadership stability and sustainability assessment. Data provided by Russia’s Fast Growing High-Tech Companies’ National Rating (TechUp) during 2012-2016 were used. The results have revealed that the high tech sector is characterized by high level of uncertainty. Limited number of regions and sectors which form the basis for high tech business have been defined. Relationship between innovation activity’s indicators and export potential is determined.

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