A Service Robot with Lightweight Arms and a Trinocular Vision Sensor

2010 ◽  
Vol 439-440 ◽  
pp. 396-400
Author(s):  
Xian Hua Li ◽  
Shi Li Tan ◽  
Wu Xin Huang
Keyword(s):  
Control System ◽  
Coordinate System ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Service Robot ◽  
Algebraic Solution ◽  
Vision Sensor ◽  
Solution Methods ◽  
Space Coordinate ◽  
Position And Orientation

This paper describes a household service robot with two lightweight arms and a trinocular vision sensor. According to DH convention, the coordinate system of two arms is established, and position and orientation of the hand is computed. The inverse kinematics of the arm is solved with geometric and algebraic solution methods. By the trinocular vision sensor, robot can recognize the bottle and get its 3-D space coordinate. Through experiments, both correctness of the algorithm and stability of the robot control system are validated.

scholarly journals Selected aspects of robin heart robot control

2013 ◽  
Vol 60 (4) ◽  
pp. 575-593 ◽  
Author(s):  
Adam Niewola ◽  
Leszek Podsedkowski ◽  
Piotr Wróblewski ◽  
Piotr Zawiasa ◽  
Marcin Zawierucha
Keyword(s):  
Coordinate System ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Production Engineering ◽  
Medical Robots ◽  
Surgical Tools ◽  
Position And Orientation ◽  
Pass Through ◽  
Sense Of Touch

Abstract The issues of medical robots have been approached for 12 years in the Institute of Machine Tools and Production Engineering of the Technical University of Lodz. In the last two years, the scope of research related to the miniaturization of surgical tools, automated changing of these tools with the use of a tool depot designed for this purpose, equipping the robot in the sense of touch and developing the software which provides ergonomic and intuitive robot control with the use of all its functions. In the telemanipulator control, strong emphasis is placed on the intuitiveness of control, which is hard to be ensured due to the fact that the robot tool is observed by a laparoscopic camera, whose orientation and position may vary. That is the reason for developing a new algorithm. It copies the increments of the position and orientation measured in relation to the monitor coordinate system onto the robot tool movement and orientation, which are measured in relation to the camera coordinates system. In this algorithm it is necessary to solve inverse kinematics, which has a discontinuity. Avoiding the discontinuity is achieved by mapping the solution with the cosine function. It causes smooth pass through the area of discontinuity in this way avoiding the singularity

Positioning of Randomly Distributed Objects with Camera Omron F150-3

2016 ◽  
Vol 844 ◽  
pp. 63-67
Author(s):  
Rudolf Jánoš
Keyword(s):  
Control System ◽  
Robot Control ◽  
Industrial Robot ◽  
Object Manipulation ◽  
Target Object ◽  
Center Of Gravity ◽  
Inspection System ◽  
Distributed Objects ◽  
Camera System ◽  
Position And Orientation

This article describes the possibilities of OMRON F150-3 inspection system for the detection position of the object manipulation in the workspace, so that the coordinates of the center of gravity of the target object (x, y, z) be able to sell an industrial robot control system for the purpose of transposition. A specific feature of this work is that the installation is carried out with the robot SCARA, which take parts from the conveyor. Parts on the conveyor are unoriented, therefore it is necessary to use a camera system to detect the position and orientation of parts. Recognition, identification, location and orientation of the proposed method is sufficiently robust and easily adaptable to the different type of components.

scholarly journals Kinematics Analysis of 5 DOF Robotic Arm

2020 ◽  
Vol 38 (3A) ◽  
pp. 412-422
Author(s):  
Tahseen F. Abaas ◽  
Ali A. Khleif ◽  
Mohanad Q. Abbood
Keyword(s):  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Maximum Error ◽  
Robotic Arm ◽  
Forward Kinematics ◽  
Algebraic Solution ◽  
Kinematics Analysis ◽  
End Effector ◽  
Position And Orientation

This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector. Jacobian matrix is used to calculate the velocity kinematics of the robotic arm. The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper. The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters. The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.

Tracking Control of Complex Seam in Laser Welding Based on Visual Measurement

2013 ◽  
Vol 347-350 ◽  
pp. 133-137 ◽  
Author(s):  
Heng Zhou Zhen
Keyword(s):  
Control System ◽  
Laser Welding ◽  
Coordinate System ◽  
Tracking Control ◽  
Seam Tracking ◽  
Normal Vector ◽  
Center Line ◽  
Vision Sensor ◽  
Visual Measurement ◽  
Camera Coordinate System

In order to realize complex seam tracking accurately in the process of laser welding, a system for measuring joint seam was constructed by means of vision sensor. The system gives the method of measuring and calculating the center line, width, and normal vector. It also gives the transformation between measurement coordinate system to the camera coordinate system and the plan of the torch path. Tracking experiment of complex seam was done and shows that this tracking control system of complex seam in laser welding based on visual measurement is able to meet the requirements about tracking control of 3-D laser welding.

Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators

Robotica ◽  
1999 ◽  
Vol 17 (3) ◽  
pp. 303-312 ◽  
Author(s):  
Rafael Kelly ◽  
Angel Coello
Keyword(s):  
Inverse Kinematics ◽  
Robot Control ◽  
Experimental Tests ◽  
Injection Technique ◽  
Direct Drive ◽  
Energy Shaping ◽  
Theoretical Contribution ◽  
Cartesian Space ◽  
Local Asymptotic Stability ◽  
Position And Orientation

Transpose Jacobian-based controllers represent an attractive approach to robot control in Cartesian space. These controllers attempt to drive the robot end-effector posture to a specified desired position and orientation without solving either the inverse kinematics nor computing the robot inverse Jacobian. A wide class of transpose Jacobian-based regulators obtained from the energy shaping plus damping injection technique is analyzed in this paper. Our main theoretical contribution is the introduction of a novel analysis which does not invoke any assumption on Jacobian singularities to ensure local asymptotic stability for a family of nonredundant robots. The performance of four transpose Jacobian-based regulators is illustrated via experimental tests conducted on a direct-drive vertical arm.

scholarly journals Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110027
Author(s):  
Jianqiang Wang ◽  
Yanmin Zhang ◽  
Xintong Liu
Keyword(s):  
Control System ◽  
Trajectory Planning ◽  
Robot Control ◽  
Machining Process ◽  
Planning System ◽  
Positioning Accuracy ◽  
Multi Objective ◽  
Planning Algorithm ◽  
Function Testing ◽  
Robot Control System

To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

A Novel Vertical Lift Machine and its Precise Pose Control

2014 ◽  
Vol 989-994 ◽  
pp. 3105-3109
Author(s):  
Xiao Bo Liu ◽  
Xiao Feng Wei ◽  
Xiao Dong Yuan ◽  
Wei Ni
Keyword(s):  
Control System ◽  
Theoretical Analysis ◽  
Control Method ◽  
High Accuracy ◽  
Inverse Kinematic ◽  
Design Model ◽  
Pose Control ◽  
Vertical Lift ◽  
Position And Orientation ◽  
Control Principle

This paper deals with the design and theoretical analysis on a novel vertical lift machine which can vertically lift above 700 kg load up to 3.2 meters above the floor and located the load with high accuracy of position and orientation. Firstly the design model based on the installment demands of line-replaceable units (LRUs) is constructed. Then theoretical analysis including the number of degree of freedom of the lift machine, the inverse kinematic, the control principle, the lift platform pose error and the precise pose control method are conducted in the article. The validity of the design model and the effectiveness of the precise pose control system are confirmed by experiments using a prototype lift machine.

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