Parallel Cooperation of Robots during Handling with Jumbo Glass Sheets

2008 ◽  
Vol 39-40 ◽  
pp. 465-468
Author(s):  
František Novotný ◽  
Marcel Horák
Keyword(s):  
Mechanical Behaviour ◽  
Glass Sheet ◽  
Stress Fields ◽  
Robot System ◽  
End Effector ◽  
Rigid System ◽  
Special Vacuum ◽  
Head Form ◽  
External Forces ◽  
Robot Path

In the study, the mechanical behaviour of the robot, end effector – object – end effector, robot system is analyzed in terms of external forces affecting robots and their grippers as well as deformation forces influencing on the glass sheet through grippers provided that the robot kinematical structure and vacuum gripping head form an absolutely rigid system. The solution results are stress fields in the glass sheet, requirements for the robot path accuracy, and recommendations for solving special vacuum grippers for this type of robotic handling.

Adaptive motion selection for online hand–eye calibration

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 529-536
Author(s):  
Jing Zhang ◽  
Fanhuai Shi ◽  
Yuncai Liu
Keyword(s):  
Motion Planning ◽  
Dynamic Threshold ◽  
Selection Algorithm ◽  
Robot System ◽  
End Effector ◽  
Threshold Determination ◽  
Robot Gripper ◽  
Adaptive Motion ◽  
Selection For ◽  
Relative Pose

SUMMARYWhile a robot moves, online hand–eye calibration to determine the relative pose between the robot gripper/end-effector and the sensors mounted on it is very important in a vision-guided robot system. During online hand–eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand–eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand–eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.

Autonomous Rectilinear Motion Planning for a Spatial Robot: Path Planning for a Spatial 4R Manipulator With a Single Spherical Obstacle Inside the Workspace

1992 ◽  
Vol 114 (4) ◽  
pp. 559-563 ◽  
Author(s):  
Menq-Dar Shieh ◽  
J. Duffy
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Free Path ◽  
Efficient Algorithm ◽  
Rectilinear Motion ◽  
Robot Path Planning ◽  
End Effector ◽  
Truncated Pyramid ◽  
Robot Path

This is the first of a series of papers dealing with the path planning for a spatial 4R robot with multiple spherical obstacles inside the workspace. In this paper, a time efficient algorithm has been developed to determine a collision free path for the end effector tip of the robot with a single spherical obstacle inside the workspace. A truncated pyramid and a right circular torus are used to model the nonreachable workspaces of the end effector tip of the robot. The problem of guiding the spatial 4R manipulator while avoiding a spherical obstacle is reduced to moving a point while avoiding a truncated pyramid and/or a right circular torus inside the workspace. The point represents the tip of the end effector of the manipulator. This approach produces an efficient algorithm for determining a collision free path. The algorithm has been successfully developed and implemented in the Silicon Graphics 4D-70GT workstation to verify the results.

Gantry Robot Dynamic Analysis Based on Lagrange’s Motion Equation

2016 ◽  
Vol 693 ◽  
pp. 1741-1746
Author(s):  
A.I.I. Mahir ◽  
San Peng Deng ◽  
Y.M. Qi
Keyword(s):  
Equations Of Motion ◽  
Lagrange Equations ◽  
Software Environment ◽  
Robot System ◽  
End Effector ◽  
Adams Software ◽  
Abrupt Changes ◽  
Pick And Place ◽  
Physical Limitations ◽  
Gantry Robot

The dynamic problem is defined as the way the motion of the robot arises due to the torques and forces applied at the joint by the actuators. The motion undergone by robotic mechanical system should be as, a rule, as smooth as possible, abrupt changes in position, velocity, and acceleration should be avoided. Indeed, abrupt motions require unlimited amounts of power to be implemented, which the motors cannot supply because of their physical limitations. In this paper an analytical solution for the dynamics of 3 DOF gantry robot presented to achieve those goals, so our aims is to model the dynamics of gantry Robot for simple pick and place application. Equations of motion are derived using the Lagrange equations of the second order, the dynamical model of robot was developed, and the gantry robot system was modeled in SOLIDWORKS software environment and it was simulated using ADAMS software. The manipulator is composed by four basic modules defined as module X, module Y, module Z and terminal arm, where is connected the end-effector.

scholarly journals Pemodelan dan Simulasi Robot Lengan 3 DOF Menggunakan V-REP

AVITEC ◽  
2019 ◽  
Vol 1 (1) ◽  
Author(s):  
AZ Uchrowi ◽  
Lasmadi Lasmadi ◽  
Sutjianto Soekarno
Keyword(s):  
Conventional Method ◽  
Degree Of Freedom ◽  
Forward Kinematics ◽  
Strength Development ◽  
Research Use ◽  
Robot System ◽  
End Effector

Movement of objects from one position to another position is usually by conventional method of human strength. Development of robotics technology makes movement of objects in the industry by arm robot system. By using arm robot system,  the work more effective. The aim  of this reaserch is to modeling 3 Degree of Freedom arm robot with kinematics method using V-REP software. Kinematics method is a subject that analyze robot movement without knowing the force that causes the movement. This research use the forward kinematics method so that arm robot can reach the goals. The input from this robot is an angle which is computed using the forward kinematics method. The output is an end-effector coordinate. Based on the result of the research, the 3 Degree of Freedom arm robot is capable to move the object from one position to another position and an error that occurs can achieve  4,99% for x coordinate, 5,57% for y coordinate, and 3,18% for z coordinate. Based on these results, the 3 Degree of Freedom arm robot with the forward kinematics method can be simulated in V-REP software effectively.

Error Modelling for Master Slave Surgical Robot System

2011 ◽  
Vol 697-698 ◽  
pp. 795-798
Author(s):  
Jian Ye Zhang ◽  
Chen Zhao ◽  
Da Wei Zhang
Keyword(s):  
Computer Program ◽  
Cross Section ◽  
Robot Manipulator ◽  
Surgical Robot ◽  
Accuracy Analysis ◽  
Robot System ◽  
End Effector ◽  
Surface Graph ◽  
Position And Orientation ◽  
Kinematics Parameters

The Position and orientation accuracy of robot manipulator has long become a major issue to be considered in its advanced application. A linear error model that described the end-effector position and orientation errors of the master salve surgical robot system due to kinematics parameters errors has been presented. A computer program to perform the accuracy analysis has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a master-slave surgical robot system. The position error in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

Algorithm for the Extraction of Optimal Gripping Force Range with the Robot Gripper

2012 ◽  
Vol 251 ◽  
pp. 164-168 ◽  
Author(s):  
Dong Hwan Shin ◽  
Choong Pyo Jeong ◽  
Tae Sang Park ◽  
Yoon Gu Kim ◽  
Ji Nung An
Keyword(s):  
Permanent Deformation ◽  
Frictional Coefficient ◽  
Specific Work ◽  
Robot System ◽  
End Effector ◽  
Robot Gripper ◽  
Specific Object ◽  
End Effectors ◽  
Force Range ◽  
Gripping Force

The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper generates the excessive gripping force, then the gripped material can have a permanent deformation. On the other hand, if the gripping force is too small, then the gripped material can be slip from the end-effector, drop to the floor and will get damaged. Therefore, it is important to use the adequate gripping force of the gripper. In this paper, we suggest the algorithm which is easy to automate, for the extraction of optimal gripping force range, with the estimation of frictional coefficient and young’s modulus.

Experimental Research on Force/Position Control of a Wire-Driven Parallel Rehabilitative Robot

2011 ◽  
Vol 138-139 ◽  
pp. 68-73 ◽  
Author(s):  
Ke Yi Wang ◽  
Fang Chao Ma ◽  
Meng Hao ◽  
Li Xun Zhang ◽  
Pan Liu
Keyword(s):  
Position Control ◽  
Parallel Robot ◽  
Force Balance ◽  
Robot System ◽  
End Effector ◽  
Wire Tension ◽  
Parallel Control ◽  
The Wire ◽  
And Control ◽  
Force Balance Equation

During rehabilitative training, a 3-DOF wire-driven parallel robot driven was designed to coordinate and control the trainer pelvis movement. Based on the force balance equation of the end-effector, the stiffness problem about the robot system was analyzed and one kind of force/position parallel control strategy was proposed that the position loop would realize the end-effector motion trajectory, and the force loop would control the wire tension. The experimental results have shown that the robot systematic stiffness is related with the wire tension and can be changed to realize the compliance control of the robot system by adjusting the wire tension.

scholarly journals Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

2020 ◽  
Vol 10 (24) ◽  
pp. 8927
Author(s):  
Alejandro Suarez ◽  
Pedro J. Sanchez-Cuevas ◽  
Guillermo Heredia ◽  
Anibal Ollero
Keyword(s):  
Impedance Control ◽  
Physical Interaction ◽  
Position Sensor ◽  
Aerial Manipulation ◽  
End Effector ◽  
Control Scheme ◽  
External Forces ◽  
Dual Arm ◽  
Manipulation Robot ◽  
Aerial Platform

This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the positioning accuracy of the aerial platform and the end effector when the grabbing arm is used as position sensor, as well as to analyze the behavior of the robot during the aerial physical interaction on flight. The paper proposed a control scheme that exploits the information provided by the joint sensors of the grabbing arm for estimating the relative position of the aerial platform w.r.t. (with respect to) the grabbing point. A deflection-based Cartesian impedance control was designed for the compliant arm, allowing the generation of forces that help the aerial platform to maintain the reference position when it is disturbed due to external forces. The proposed methods were validated in an indoor testbed with a lightweight and compliant dual arm aerial manipulation robot.

Research on Key Technology of Truss Tomato Harvesting Robot in Greenhouse

2013 ◽  
Vol 442 ◽  
pp. 480-486 ◽  
Author(s):  
Chao Ji ◽  
Jing Zhang ◽  
Ting Yuan ◽  
Wei Li
Keyword(s):  
Success Rate ◽  
Execution Time ◽  
Tomato Fruit ◽  
Color Difference ◽  
Growth Characteristics ◽  
Robot System ◽  
End Effector ◽  
Key Technology ◽  
Key Technologies ◽  
Harvesting Robot

In order to improve the automated vegetable-harvesting level, a robot system for truss tomato harvesting and two key technologies of picking-point recognition and end-effector design were proposed. An algorithm used the segmentation feature of the color difference 2r-g-b to recognize the truss tomato fruit and the assistant mark. According to the growth characteristics of the stem of tomato truss, the approximate fitting curve of stem and the contour of assistant mark were extracted to generate the optimal picking-point for location of tomato truss. The hardware structure of an end-effector based on flexible transmission was designed, and the function of cutting and grasping could be realized simultaneously by the end-effector. Experimental results show that the success rate for harvesting truss tomato was 88.6%, and the average execution time for picking a truss tomato was 37.2s.

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