autonomous assembly
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2022 ◽  
Author(s):  
William Doggett ◽  
John T. Dorsey ◽  
Brace W. White ◽  
Kyongchan Song ◽  
Lauren Simmons ◽  
...  
Keyword(s):  

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Zeyuan Sun ◽  
Hong Yang ◽  
Que Dong ◽  
Yang Mo ◽  
Hui Li ◽  
...  

Using space stations for a large number of observation, exploration, and research is a necessary way to fully develop space technology. It is a necessary means of space experiment to install the extravehicular experimental load by using the load plate. However, the extravehicular environment is full of danger, which poses a threat to the health and even safety of astronauts. Using robots to replace astronauts to complete this task can effectively reduce the threat to astronauts. Aiming at the problem that the configurations of existing space robots have difficulty in balancing the contradiction between complexity and dexterity, our previous work proposes a 12-DOF 3-arm robot and preliminarily explores the feasibility of its large-scale ability. This paper focus on the 8-DOF redundant dexterous manipulator composed of 2 of the robot arms. In view of the difficulties in solving the inverse kinematics of the redundant manipulator, the challenges of complex environmental lighting, and difficulties of matching multiple groups of holes and pins in the load plate assembly task, the research on the autonomous assembly of the load plate is carried out. The main work is as follows: (a) A variable D-H parameter inverse kinematics solution method is proposed, which lays a foundation for humanoid dexterous operation planning of the robot. (b) An autonomous operation method based on visual guidance and variable parameter admittance control is proposed. Finally, the safety and robustness of the robot in the autonomous assembly of the load plate with multipins and holes are successfully verified by experiments.


2021 ◽  
Author(s):  
Joris De Winter ◽  
Ilias EI Makrini ◽  
Greet Van de Perre ◽  
Ann Nowé ◽  
Tom Verstraten ◽  
...  

2021 ◽  
pp. 1-13
Author(s):  
Camille Pirat ◽  
Pol Ribes-Pleguezuelo ◽  
Fanny Keller ◽  
Alessandro Zuccaro Marchi ◽  
Roger Walker

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Hamed Fazlollahtabar

Abstract Industry 4.0 integrated with robotic and digital fabrication technologies have attracted the attention of manufacturing researchers. Autonomous assembly with supervisory control and data acquisition (SCADA) systems holds the promise of greater scalability, adaptability, and potentially evolved design possibilities helping to maintain efficiency, process data for smarter decisions, and communicate system issues to help mitigate downtime. This paper concerns with developing an intelligent control system based on SCADA in the Internet of Things (IoT) platform to process configuration and reconfiguration of an autonomous assembly system. The implementation study certifies the effectiveness of the proposed IoT-based SCADA control system in autonomous assembly.


2021 ◽  
Vol 53 (4) ◽  
Author(s):  
Slava Turyshev ◽  
Henry Helvajian ◽  
Louis D. Friedman ◽  
Tom Heinsheimer ◽  
Darren Garber ◽  
...  

ASCEND 2020 ◽  
2020 ◽  
Author(s):  
Joshua Moser ◽  
Anderson Matthew ◽  
Holly Everson ◽  
Amy Quartaro ◽  
William D. Chapin ◽  
...  

2020 ◽  
pp. 291-303
Author(s):  
Neil Macmaster

The chapter examines the processes by which the earliest nationalist guerrilla forces of the ALN (Armée de libération nationale) began to make contact with peasant society in the Chelif and to organize support among the local population. The process was made particularly difficult because of a virtual civil war between the Messalist forces of the MNA, and the newly created FLN, each competing to create a peasant base. The initial small, and poorly equipped forces of the FLN often faced hostility from the inhabitants, but through collective, night-time propaganda meetings they began to create a new autonomous assembly, the nizam. Instead of assassinating or driving away the caids, as has often been claimed, the FLN recruited where possible the existing fraction headmen and field guards. During the propaganda drive led by political commissars the FLN was careful to shape its rhetoric and message to the culture and beliefs of a conservative peasantry.


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