Trajectory Planning of Delta Robot for Dynamic Tracking, Pick and Placement

2013 ◽  
Vol 680 ◽  
pp. 473-478 ◽  
Author(s):  
Guang Feng Chen ◽  
Lin Lin Zhai ◽  
Lei Li ◽  
Jia Wen Shi
Keyword(s):  
Target Position ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Control Points ◽  
Practical Action ◽  
Dynamic Tracking ◽  
Key Points ◽  
Pick And Place ◽  
Delta Robot ◽  
The Right

This paper focus on the trajectories planning for Delta robot, which is used to dynamic tracking, pick and place workpiece on packing line. According to the practical action requirements, defined the desired path for end actuator in Cartesian space. The control trajectories are divided into several line segments. For each section, the control points are calculated with the modified sine computing terminal trajectory. To tracking the workpiece on conveyor, a mathematical models is developed to describe the target position and limitation of robot hardware. Newton's method is adopt to solve the model. Through calculating the right angle coordinate system of key points with inverse kinematic in joint space, generating a feasible motion control track. A demo trajectory is generated to verify the feasibility of the scheme.

Automatic Planning of Smooth Trajectories for Pick-and-Place Operations

1991 ◽  
Author(s):  
Clément M. Gosselin ◽  
Ammar Hadj-Messaoud
Keyword(s):  
Joint Space ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Inverse Kinematic Problem ◽  
Polynomial Solutions ◽  
Joint Coordinates ◽  
Pick And Place ◽  
Lift Off ◽  
The Relationship ◽  
Third Derivative

Abstract This paper proposes some new polynomial solutions to the trajectory planning problem encountered in pick-and-place operations. When a robotic manipulator is used for such operations, it is possible to plan the required trajectory in joint space, provided that the inverse kinematic problem has been solved for the initial and final configurations — and possibly for a lift-off and a set-down configuration — and that the workspace is free of obstacles. Polynomial solutions to this problem can be found in the literature. However, they usually provide continuity up to the second derivative only, leading to a discontinuous jerk. The solutions derived in this paper preserve the continuity of the third derivative of the joint coordinates, thereby ensuring smooth trajectories with smooth variations of the actuator currents. Moreover, whenever possible, unique polynomial expressions valid between the initial and final configurations are used in order to simplify the logic. Polynomial formulations without lift-off and set-down configurations are first presented. Then, these intermediate configurations are introduced, leading to a new set of solutions. A global algorithm is then discussed in order to clearly indicate the relationship between the different solutions. Finally, an example illustrating the application to a pick-and-place operation is solved.

Automatic Planning of Smooth Trajectories for Pick-and-Place Operations

1993 ◽  
Vol 115 (3) ◽  
pp. 450-456 ◽  
Author(s):  
C. M. Gosselin ◽  
A. Hadj-Messaoud
Keyword(s):  
Joint Space ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Inverse Kinematic Problem ◽  
Polynomial Solutions ◽  
Joint Coordinates ◽  
Pick And Place ◽  
Lift Off ◽  
The Relationship ◽  
Third Derivative

This paper proposes some new polynomial solutions to the trajectory planning problem encountered in pick-and-place operations. When a robotic manipulator is used for such operations, it is possible to plan the required trajectory in joint space, provided that the inverse kinematic problem has been solved for the initial and final configurations—and possibly for a lift-off and a set-down configuration—and that the workspace is free of obstacles. Polynomial solutions to this problem can be found in the literature. However, they usually provide continuity up to the second derivative only, leading to a discontinuous jerk. The solutions derived in this paper preserve the continuity of the third derivative of the joint coordinates, thereby ensuring smooth trajectories with smooth variations of the actuator currents. Moreover, whenever possible, unique polynomial expressions valid between the initial and final configurations are used in order to simplify the logic. Polynomial formulations without lift-off and set-down configurations are first presented. Then, these intermediate configurations are introduced, leading to a new set of solutions. A global algorithm is then discussed in order to clearly indicate the relationship between the different solutions. Finally, an example illustrating the application to a pick-and-place operation is solved.

scholarly journals Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller

2020 ◽  
Vol 10 (2) ◽  
pp. 1376
Author(s):  
Tresna Dewi ◽  
Siti Nurmaini ◽  
Pola Risma ◽  
Yurni Oktarina ◽  
Muhammad Roriz
Keyword(s):  
Fuzzy Logic ◽  
Inverse Kinematics ◽  
Fuzzy Logic Controller ◽  
Robot Manipulator ◽  
Inverse Kinematic ◽  
Experimental Results ◽  
Position Errors ◽  
Motion System ◽  
Pick And Place ◽  
The Right

The arm robot manipulator is suitable for substituting humans working in tomato plantation to ensure tomatoes are handled efficiently. The best design for this robot is four links with robust flexibility in x, y, and z-coordinates axis. Inverse kinematics and fuzzy logic controller (FLC) application are for precise and smooth motion. Inverse kinematics designs the most efficient position and motion of the arm robot by adjusting mechanical parameters. The FLC utilizes data input from the sensors to set the right position and motion of the end-effector. The predicted parameters are compared with experimental results to show the effectiveness of the proposed design and method. The position errors (in x, y, and z-axis) are 0.1%, 0.1%, and 0.04%. The rotation errors of each robot links (θ1, θ2, and θ3) are 0%, 0.7% and 0.3%. The FLC provides the suitable angle of the servo motor (θ4) responsible in gripper motion, and the experimental results correspond to FLC’s rules-based as the input to the gripper motion system. This setup is essential to avoid excessive force or miss-placed position that can damage tomatoes. The arm robot manipulator discussed in this study is a pick and place robot to move the harvested tomatoes to a packing system.

Pregnancies and Pregnancy Desires at the State Level: Estimates for 2017 and Trends Since 2012

2021 ◽  
Author(s):  
Kathryn Kost ◽  
◽  
Isaac Maddow-Zimet ◽  
Ashley C. Little
Keyword(s):  
Pregnancy Rate ◽  
Unwanted Pregnancy ◽  
State Level ◽  
The State ◽  
Clear Pattern ◽  
The South ◽  
The West ◽  
Key Points ◽  
The Right ◽  
Almost All

Key Points In almost all U.S. states, pregnancies reported as occurring at the right time or being wanted sooner than they occurred comprised the largest share of pregnancies in 2017, though proportions varied widely by state. The proportion of pregnancies that were wanted later or unwanted was higher in the South and Northeast than in other regions, and the proportion of pregnancies that occurred at the right time or were wanted sooner was higher in the West and Midwest. From 2012 to 2017, the wanted-later-or-unwanted pregnancy rate fell in the majority of states. However, no clear pattern emerged for any changes in the rate of pregnancies that were reported as wanted then or sooner or in the rate of those for which individuals expressed uncertainty.

Development of Pick and Place Delta Robot

2020 ◽  
pp. 475-486
Author(s):  
Supod Kaewkorn ◽  
Chanin Joochim ◽  
Phongsak Keeratiwintakorn ◽  
Alisa Kunapinun
Keyword(s):  
Pick And Place ◽  
Delta Robot

scholarly journals Policing During COVID-19: Perspectives from MET Police, UK

2021 ◽  
Vol 3 (3) ◽  
pp. 128-131
Author(s):  
CASIS Vancouver
Keyword(s):  
Information Sharing ◽  
West Coast ◽  
Online Environment ◽  
Public And Private ◽  
The Public ◽  
Building Trust ◽  
Key Points ◽  
Question And Answer ◽  
The Right

On November 26th, 2020, Deputy Assistant Commissioner Lucy D'Orsi presented Policing During COVID-19: Perspectives from MET Police, UK at the 2020 CASIS West Coast Security Conference. The presentation was followed by a panel question and answer period with other speakers. The key points of discussion focused on the challenges faced by MET Police in a saturated online environment, harvesting the right information, sharing it with the public and private sectors, and building trust.

scholarly journals Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators

1999 ◽  
Author(s):  
Damien Chablat ◽  
Philippe Wenger
Keyword(s):  
Parallel Manipulator ◽  
Cartesian Product ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Connected Components ◽  
Feasible Point ◽  
Cartesian Space ◽  
Point Trajectories ◽  
Point To Point

Abstract The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this study may have multiple direct and inverse kinematic solutions. The N-connected regions are characterized by projection, onto the Cartesian workspace, of the connected components of the reachable configuration space defined in the Cartesian product of the Cartesian space by the joint space. Generalized octree models are used for the construction of all spaces. This study is illustrated with a simple planar fully-parallel manipulator.

scholarly journals Chronicle of the discovery of the back-bending phenomenon in atomic nuclei: a personal recollection 50 years on

2021 ◽  
Vol 46 (1) ◽  
Author(s):  
Hans Ryde
Keyword(s):  
Nuclear Structure ◽  
Ground State ◽  
Energy Levels ◽  
Historical Context ◽  
Rotational Frequency ◽  
Heavy Nuclei ◽  
Atomic Nuclei ◽  
Key Points ◽  
The Moment ◽  
The Right

AbstractA chronicle describing the historical context and the development of ideas and experiments leading to the discovery of the back-bending phenomenon in rapidly rotating atomic nuclei some 50 years ago is presented. The moment of inertia of some atomic nuclei increases anomalously at a certain rotational frequency, revealing important clues to our understanding of nuclear structure. I highlight the decisive interactions and contacts between experimentalists and theorists, which created the right environment, allowing for the revelation of an undetected phenomenon in Nature. Finally, I reflect on the key points allowing for the discovery and particularly point to the importance of systematic surveys, which in this case investigated the energy levels in heavy nuclei of a large sample of elements, as well as to the accuracy of the measurements of the ground state levels made at the time.

Development of Wire Actuated Monolithic Soft Gripper Positioned by Robot Manipulator

2020 ◽  
Author(s):  
Rafael Barreto Gutierrez ◽  
Martin Garcia ◽  
Joan McDuffie ◽  
Courtney Long ◽  
Ayse Tekes
Keyword(s):  
Robot Manipulator ◽  
Compliant Mechanism ◽  
Experimental Testing ◽  
Service Robot ◽  
Servo Motor ◽  
Single Piece ◽  
Pick And Place ◽  
Grasping Force ◽  
3D Printed ◽  
The Right

Abstract This paper presents the design and development of a two fingered, monolithically designed compliant gripper mounted on a two-link robot. Rigid grippers traditionally designed by rigid links and joints might have low precision due to friction and backlash. The proposed gripper is designed as a single piece compliant mechanism consisted of several flexible links and actuated by wire through a servo motor. The gripper is attached to a two-link arm robot driven by three step motors. An additional servo motor can also rotate the base of the robot. While the robot is 3D printed using polylactic acid (PLA), the gripper is 3D printed in thermoplasticpolyurethane (TPU). Two force sensors are attached to the right and left ends of the gripper to measure grasping force. Experimental testing for grasping various objects having different sizes, shapes and weights is carried out to verify the robust performance of the proposed design. Through the experimentation, it’s been noted that the compliant gripper can successfully lift up objects at a maximum mass of 200 g and have a better performance if the objects’width is closer to the width of the gripper. The presented mechanism can be utilized as a service robot for elderly people to assist them pick and place objects or lift objects if equipped with necessary sensors.

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