scholarly journals Research on Semi-Automatic Bomb Fetching for an EOD Robot

10.5772/5689 ◽  
2007 ◽  
Vol 4 (2) ◽  
pp. 27 ◽  
Author(s):  
Zeng Jian-Jun ◽  
Yang Ru-Qing ◽  
Zhang Wei-Jun ◽  
Weng Xin-Hua ◽  
Qian Jun
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Model Construction ◽  
Operation Performance ◽  
Robot System ◽  
Cluttered Environment ◽  
Limited Support ◽  
Operation Procedure ◽  
Laser Distance Sensor ◽  
Distance Sensor

An EOD robot system, SUPER-PLUS, which has a novel semi-automatic bomb fetching function is presented in this paper. With limited support of human, SUPER-PLUS scans the cluttered environment with a wrist-mounted laser distance sensor and plans the manipulator a collision free path to fetch the bomb. The model construction of manipulator, bomb and environment, C-space map, path planning and the operation procedure are introduced in detail. The semi-automatic bomb fetching function has greatly improved the operation performance of EOD robot.

scholarly journals A Collision-Free Path-Planning Method for an Articulated Mobile Robot

2007 ◽  
Vol 4 (2) ◽  
pp. 71-81 ◽  
Author(s):  
P. Quintero-Alvarez ◽  
G. Ramirez ◽  
S. Zeghloul
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Free Path ◽  
Planning Problem ◽  
Minimal Distance ◽  
Final Position ◽  
Cluttered Environment ◽  
Distance Calculation ◽  
Articulated Robot ◽  
Path Planning Problem

In previous works, we treated the collision-free path-planning problem for a nonholonomic mobile robot in a cluttered environment. We used a method based on a representation of the obstacles on the robot's velocity space. This representation is called Feasible Velocities Polygon (FVP). Every obstacle in the robot's influence zone is represented by a linear constraint on the robot's velocities such that a collision between the robot and the obstacle could be avoided. These constraints define a convex subset in the velocity space, the FVP. Every velocity vector in the FVP ensures a safe motion for the given obstacle configuration. The path-planning problem is solved by an optimization approach between the FVP and a reference velocity to reach the goal. In this paper, we have extended our work to an articulated mobile robot evolving in a cluttered environment. This robot is composed of a differential mobile robot and one or several modules that together form the trailer which are linked by off-center joints. This kind of robot is a strongly constrained system. Even in a free environment, under some circumstances, the robot may be blocked by its trailers in its progression towards the goal. The proposed approach, compared to other methods, has the main advantage of integrating anti-collision constraints between the articulated robot itself and the environment, in order to avoid and resolve dead-lock situations. For moving to the final position, the articulated mobile robot uses the FVP and a reference control law, to formulate the constraints method as a problem of minimal distance calculation. This formulation is then solved with the algorithm of minimal distance calculation proposed by Zeghloul (Zeghloul and Rambeaud, 1996). When a dead-locking situation arises and according to the robot–obstacle configuration, we have developed three different modules to solve these conditions. Each module uses a different approach to resolve the blocking situation. In order to show the capabilities of our method to lead the articulated robot to the final position in a stable way, a numerical result is presented.

Accuracy Improvement of Terminal Voltage Self-coupled Laser Distance Sensor

2020 ◽  
Vol 140 (11) ◽  
pp. 1264-1269
Author(s):  
Tatsuya Ohba ◽  
Daisuke Mizushima ◽  
Keishiro Goshima ◽  
Norio Tsuda ◽  
Jun Yamada
Keyword(s):  
Accuracy Improvement ◽  
Terminal Voltage ◽  
Laser Distance Sensor ◽  
Distance Sensor

scholarly journals Collision-free path planning for welding manipulator via hybrid algorithm of deep reinforcement learning and inverse kinematics

2021 ◽  
Author(s):  
Jie Zhong ◽  
Tao Wang ◽  
Lianglun Cheng
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Free Path ◽  
Inverse Kinematics ◽  
Multiple Dimensions ◽  
Continuous State ◽  
Planning Algorithm ◽  
Convergence Performance ◽  
Path Planner ◽  
Action Spaces

AbstractIn actual welding scenarios, an effective path planner is needed to find a collision-free path in the configuration space for the welding manipulator with obstacles around. However, as a state-of-the-art method, the sampling-based planner only satisfies the probability completeness and its computational complexity is sensitive with state dimension. In this paper, we propose a path planner for welding manipulators based on deep reinforcement learning for solving path planning problems in high-dimensional continuous state and action spaces. Compared with the sampling-based method, it is more robust and is less sensitive with state dimension. In detail, to improve the learning efficiency, we introduce the inverse kinematics module to provide prior knowledge while a gain module is also designed to avoid the local optimal policy, we integrate them into the training algorithm. To evaluate our proposed planning algorithm in multiple dimensions, we conducted multiple sets of path planning experiments for welding manipulators. The results show that our method not only improves the convergence performance but also is superior in terms of optimality and robustness of planning compared with most other planning algorithms.

scholarly journals Research Progress on Synergistic Technologies of Agricultural Multi-Robots

2021 ◽  
Vol 11 (4) ◽  
pp. 1448
Author(s):  
Wenju Mao ◽  
Zhijie Liu ◽  
Heng Liu ◽  
Fuzeng Yang ◽  
Meirong Wang
Keyword(s):  
Path Planning ◽  
Formation Control ◽  
Research Progress ◽  
Hybrid Architecture ◽  
Labor Costs ◽  
Robot System ◽  
System Architectures ◽  
Research Results ◽  
Robot Systems ◽  
Multi Robot

Multi-robots have shown good application prospects in agricultural production. Studying the synergistic technologies of agricultural multi-robots can not only improve the efficiency of the overall robot system and meet the needs of precision farming but also solve the problems of decreasing effective labor supply and increasing labor costs in agriculture. Therefore, starting from the point of view of an agricultural multiple robot system architectures, this paper reviews the representative research results of five synergistic technologies of agricultural multi-robots in recent years, namely, environment perception, task allocation, path planning, formation control, and communication, and summarizes the technological progress and development characteristics of these five technologies. Finally, because of these development characteristics, it is shown that the trends and research focus for agricultural multi-robots are to optimize the existing technologies and apply them to a variety of agricultural multi-robots, such as building a hybrid architecture of multi-robot systems, SLAM (simultaneous localization and mapping), cooperation learning of robots, hybrid path planning and formation reconstruction. While synergistic technologies of agricultural multi-robots are extremely challenging in production, in combination with previous research results for real agricultural multi-robots and social development demand, we conclude that it is realistic to expect automated multi-robot systems in the future.

scholarly journals A Laser-Based Direct Cable Length Measurement Sensor for CDPRs

Robotics ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 60
Author(s):  
Christoph Martin ◽  
Marc Fabritius ◽  
Johannes T. Stoll ◽  
Andreas Pott
Keyword(s):  
Mechanical Design ◽  
Parallel Robots ◽  
Length Measurement ◽  
Cable Length ◽  
Measurement Sensor ◽  
Important Research Topic ◽  
Measurement Principle ◽  
Laser Distance Sensor ◽  
Distance Sensor ◽  
The One

Accuracy improvement is an important research topic in the field of cable-driven parallel robots (*CDPRS). One reason for inaccuracies of *CDPRS are deviations in the cable lengths. Such deviations can be caused by the elongation of the cable due to its elasticity or creep behavior. For most common *CDPRS, the cable lengths are controlled using motor encoders of the winches, without feedback about the actual elongation of the cables. To address this problem, this paper proposes a direct cable length measurement sensor based on a laser distance sensor. We present the mechanical design, the first prototype and an experimental evaluation. As a result, the measurement principle works well and the accuracy of the measured cable lengths is within −2.32 mm to +1.86 mm compared to a range from −5.19 mm to +6.02 mm of the cable length set with the motor encoders. The standard deviation of the cable length error of the direct cable length measurement sensor is 58% lower compared to the one set with the motor encoders. Equipping all cables of the cable robot with direct cable length measurement sensors results in the possibility to correct cable length deviations and thus increase the accuracy of *CDPRS. Furthermore, it enables new possibilities like the automatic recalibration of the home pose.

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