scholarly journals Modelling and Design of State Estimator for a Pick and Place Robotic Arm

2021 ◽  
Vol 6 (4) ◽  
Author(s):  
Khalid K. Dandago ◽  
Ameer Mohammed ◽  
Osichinaka C. Ubadike ◽  
Mahmud S. Zango ◽  
Abdulbasit Hassan ◽  
...  
Keyword(s):  
Research Work ◽  
Industrial Applications ◽  
The State ◽  
Robotic Arm ◽  
Good Representation ◽  
State Estimator ◽  
Robust Model ◽  
State Estimators ◽  
Pick And Place ◽  
Identification Technique

A robust model is essential for the design of system components such as controllers, observers state estimators, and simulators. State estimators are becoming increasingly important in modern systems, especially systems with states that may not be measured with sensors. Therefore, it is imperative to analyze the performance of different modelling and state estimator design techniques. In this research work, a parametric model of a pick and place robotic arm was obtained using system identification technique. Pick and place robotic arms have a lot of industrial applications. The parameters of the obtained model were determined using the general second-order characteristics equation and manual tuning. Furthermore, five state estimators were designed based on the developed model. The accuracy of the model, and the performance of the observers were analyzed. The model was found to provide a good representation of the system. Nonetheless, with very small divergence between the model and the real system. The performance of the observers was found to be dependent on their pole locations; the higher the magnitude of the poles, the higher the state estimators’ gain and the better the estimation provided. It was found out that the state estimators with high gains were more susceptible to measurement noise. Keywords— Modelling, pick and place robots, observers, and state estimators.

Dynamics and Motion Control of a 6-DOF Robot Manipulator

2012 ◽  
Author(s):  
Carlos Mondragon ◽  
Reza Fotouhi
Keyword(s):  
Free Path ◽  
Robot Manipulator ◽  
Research Work ◽  
Robotic Arm ◽  
Medical Settings ◽  
Wide Range ◽  
Pick And Place ◽  
Stationary Objects ◽  
Simulation Results ◽  
Six Degree Of Freedom

This research work is to control motion of a manipulator attached to a mobile robot for pick-and-place operations; this is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. In this paper a strategy to accomplish pick-and-place operations, using a six degree-of-freedom robotic arm, is presented. Such operations are completed by creating a collision-free path to move an object from an initial to a final position. The collision-free path is planned by considering the entire workspace of the manipulator. The workspace is defined as the subtraction of the stationary objects and the robot volumes from all of the possible reachable points of the robotic arm. Once the path is planned, the kinematics of the manipulator is considered. Although this project can be applied into a wide range of applications, it is mainly intended to be used for medical robotic assistance. Simulation results for several different paths are presented. The simulation results were verified with experimental results, although not shown here.

Vision Based Pick and Place Robot for Sorting Objects Using MATLAB

2014 ◽  
Vol 592-594 ◽  
pp. 2314-2318
Author(s):  
Parag J. Tarwadi ◽  
Arockia Selvakumar Arockia Doss
Keyword(s):  
Material Handling ◽  
Vision System ◽  
Industrial Applications ◽  
Research Field ◽  
Robotic Arm ◽  
Material Handling System ◽  
Single Object ◽  
Pick And Place ◽  
Automated Material Handling ◽  
Different Color

In recent years, vision system in robotics have a major impact on research field and industry. Many industrial applications have a huge requirement of sorting out the things as per different color or label. This paper deals with an automated material handling system, which synchronizes the movement of robotic arm to pick a single object from the maximum numbers. This paper aims to sort out different kind of objects by their color occupied pin code and place them to its respective pre-programmed place.

scholarly journals Design and Development of Z-Robot for industrial Applications

2019 ◽  
Vol 9 (1) ◽  
pp. 1983-1989
Keyword(s):  
Industrial Applications ◽  
Robotic Arm ◽  
Design And Development ◽  
Industrial Automation ◽  
Robot Arms ◽  
Pick And Place ◽  
Loading And Unloading ◽  
End Effectors ◽  
Application Specific

The last few decades have demonstrated the benefit of fast, vast and inexpensive robots in production sectors. Robots in the industry can be cooperative or supportive to the workers. Some significant tasks such as, industrial automation, painting, welding, package loading and unloading, cutting and application specific tasks can be performed using industrial robotic arm. The aim of the project is to pick and place the objects in industries using robot arms. Z-Robot is a double arm robot. The robot arms follow the loop in a program to run the servo motors. Arduino program stores the position of each motor. When the pick command is received servo motors fixed with the robot arms start rotating based on the program and picks up the object. When the drop command is received the robot arms drops down the object. The pick and place operations can be done in any direction. End effectors connected with arm setup is used to pick and place the object.

Isatin: A Scaffold with Innumerable Biodiversity

2020 ◽  
Vol 20 ◽  
Author(s):  
Priyobrata Nath ◽  
Agnish Mukherjee ◽  
Sougata Mukherjee ◽  
Sabyasachi Banerjee ◽  
Samarpita Das ◽  
...  
Keyword(s):  
Biological Effects ◽  
Scientific Information ◽  
Research Work ◽  
Chemical Properties ◽  
Industrial Applications ◽  
Biologically Relevant ◽  
Extensive Information ◽  
Relevant Compound ◽  
A Minor ◽  
Clinical Conditions

: Isatin is an endogenous and a significant category of fused heterocyclic component, widely been a part of several potential biologically useful synthetics. Since its discovery, tons of research work has been conducted with respect to the synthesis, chemical properties, and biological and industrial applications. It contains indole nucleus having both lactam and keto moiety which while being a part of a molecular framework exerted several biological effects, viz.; antimicrobial, antitubercular, anticonvulsant, anticancer etc. Isatin derivatives are synthetically significant substrates, which can be utilized for the synthesis of huge diversified chemical entities of which few members emerged to be a drug. The reason for this review is to provide extensive information pertaining to the chemistry and its significance in altering several pathological states of isatin and its derivatives. A Structure Activity Relationships study thus developed through a gamut of scientific information indicates the importance of mostly electron withdrawing groups, halogens, nitro, alkoxy and to a minor extent groups with positive inductive effects, such as methyl at position 1, 5, 6 and 7 of isatin in alleviating several clinical conditions. It is also observed from the survey that the presence of two oxo groups at position 2 and 3 sometimes become insignificant as fusion with a heterocycle at those position resulted in a biologically relevant compound.

State Estimation Using Randomly Delayed Measurements

1993 ◽  
Vol 115 (1) ◽  
pp. 19-26 ◽  
Author(s):  
A. Ray ◽  
L. W. Liou ◽  
J. H. Shen
Keyword(s):  
State Estimation ◽  
Minimum Variance ◽  
The State ◽  
Sensor Data ◽  
State Estimator ◽  
Uniform Asymptotic Stability ◽  
Simulation Experiments ◽  
State Estimate ◽  
Sampling Instant ◽  
Recursive Relations

This paper presents a modification of the conventional minimum variance state estimator to accommodate the effects of randomly varying delays in arrival of sensor data at the controller terminal. In this approach, the currently available sensor data is used at each sampling instant to obtain the state estimate which, in turn, can be used to generate the control signal. Recursive relations for the filter dynamics have been derived, and the conditions for uniform asymptotic stability of the filter have been conjectured. Results of simulation experiments using a flight dynamic model of advanced aircraft are presented for performance evaluation of the state estimation filter.

scholarly journals State Estimation for Cooperative Lateral Vehicle Following Using Vehicle-to-Vehicle Communication

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 651
Author(s):  
Wouter Schinkel ◽  
Tom van der Sande ◽  
Henk Nijmeijer
Keyword(s):  
State Estimation ◽  
Cooperative Control ◽  
The State ◽  
State Estimator ◽  
Estimation Process ◽  
Vehicle Communication ◽  
Vehicle To Vehicle ◽  
Control Schemes ◽  
Input Signals ◽  
Vehicle To Vehicle Communication

A cooperative state estimation framework for automated vehicle applications is presented and demonstrated via simulations, the estimation framework is used to estimate the state of a lead and following vehicle simultaneously. Recent developments in the field of cooperative driving require novel techniques to ensure accurate and stable vehicle following behavior. Control schemes for the cooperative control of longitudinal and lateral vehicle dynamics generally require vehicle state information about the lead vehicle, which in some cases cannot be accurately measured. Including vehicle-to-vehicle communication in the state estimation process can provide the required input signals for the practical implementation of cooperative control schemes. This study is focused on demonstrating the benefits of using vehicle-to-vehicle communication in the state estimation of a lead and following vehicle via simulations. The state estimator, which uses a cascaded Kalman filtering process, takes the operating frequencies of different sensors into account in the estimation process. Simulation results of three different driving scenarios demonstrate the benefits of using vehicle-to-vehicle communication as well as the attenuation of measurement noise. Furthermore, in contrast to relying on low frequency measurement data for the input signals of cooperative control schemes, the state estimator provides a state estimate at every sample.

Development and Achievements of SSM Processes for High Performance Components

2016 ◽  
Vol 256 ◽  
pp. 319-327 ◽  
Author(s):  
Mario Rosso ◽  
Ildiko Peter ◽  
Ivano Gattelli
Keyword(s):  
Industrial Development ◽  
High Performance ◽  
Rear Axle ◽  
Research Work ◽  
Industrial Applications ◽  
Alternative Methods ◽  
Front Suspension ◽  
Large Numbers ◽  
Automotive Parts ◽  
High Level

During the last decades under the enthusiastic and competent guidance of Mr Chiarmetta SSM processes attained in Italy at Stampal Spa (Torino) an unquestionable high level of industrial development with the production of large numbers of high performance automotive parts, like variety of suspension support, engine suspension mounts, steering knuckle, front suspension wheel, arm and rear axle. Among the most highlighted findings SSM processes demonstrated their capability to reduce the existing gap between casting and forging, moreover during such a processes there are the opportunity to better control the defect level.Purpose of this paper is to highlight the research work and the SSM industrial production attained and developed by Mr G.L. Chiarmetta, as well as to give an overview concerning some alternative methods for the production of enhanced performance light alloys components for critical industrial applications and to present an analysis of a new rheocasting process suitable for the manufacturing of high performance industrial components.

MAIN DIRECTIONS OF SCIENTIFIC ACTIVITY ON PROVIDING VETERINARY AND SANITARY LIVESTOCK WELL-BEING

2021 ◽  
Vol 1 (1) ◽  
pp. 6-14
Author(s):  
A.M. Smirnov ◽  
◽  
V.I. Dorozhkin ◽  
N.I. Popov ◽  
N.K. Gunenkova ◽  
...  
Keyword(s):  
Research Work ◽  
Well Being ◽  
Scientific Activity ◽  
The State ◽  
Fundamental Research

The article presents the results of research work on the state order for 2020 on disinfection, including aerosol, and deratization. The prospects of fundamental research on the study of the effect of biological (bacteriophages) and chemical (chlorine-containing disinfectants) agents on biofilms of pathogenic and opportunistic microorganisms in order to select and evaluate new effective disinfectants are shown.

Prognostics Health Management Model for LED Package Failure Under Contaminated Environment

2015 ◽  
Author(s):  
Pradeep Lall ◽  
Hao Zhang ◽  
Lynn Davis
Keyword(s):  
Health Management ◽  
Luminous Flux ◽  
The State ◽  
Remaining Useful Life ◽  
Integrating Sphere ◽  
State Estimator ◽  
Acceptable Error ◽  
Color Shift ◽  
Useful Life ◽  
The Impact

The reliability consideration of LED products includes both luminous flux drop and color shift. Previous research either talks about luminous maintenance or color shift, because luminous flux degradation usually takes very long time to observe. In this paper, the impact of a VOC (volatile organic compound) contaminated luminous flux and color stability are examined. As a result, both luminous degradation and color shift had been recorded in a short time. Test samples are white, phosphor-converted, high-power LED packages. Absolute radiant flux is measured with integrating sphere system to calculate the luminous flux. Luminous flux degradation and color shift distance were plotted versus aging time to show the degradation pattern. A prognostic health management (PHM) method based on the state variables and state estimator have been proposed in this paper. In this PHM framework, unscented kalman filter (UKF) was deployed as the carrier of all states. During the estimation process, third order dynamic transfer function was used to implement the PHM framework. Both of the luminous flux and color shift distance have been used as the state variable with the same PHM framework to exam the robustness of the method. Predicted remaining useful life is calculated at every measurement point to compare with the tested remaining useful life. The result shows that state estimator can be used as the method for the PHM of LED degradation with respect to both luminous flux and color shift distance. The prediction of remaining useful life of LED package, made by the states estimator and data driven approach, falls in the acceptable error-bounds (20%) after a short training of the estimator.

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