Journal articles: 'Endeffector'

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Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "VELOCITIES AND ACCELERATIONS AT THE 3R ROBOTS." Engevista 19, no. 1 (January 30, 2017): 202. http://dx.doi.org/10.22409/engevista.v19i1.735.

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The paper presents an original method to determine the velocities and the accelerations at the MP-3R structures. At the 3R structure (spatial) are known (imposed) the angular speeds of actuators and must be determined the velocities and the accelerations of the endeffector point M. Starting from the MP-3R direct kinematic positions system, deriving these relations system in function of the time, one time and then a second time (the second derivation) one obtains first the system velocities, and second time the accelerations of the point endeffector M. The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If one study (analyzes) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), it already has a base system, on which one can then add other movements (secondary, additional). All calculations were arranged and in the matrix form.

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Baek, Seonghyun, Dong-Sun Park, Jaiwan Cho, and Yong-Bum Lee. "A robot endeffector tracking system based on feedforward neural networks." Robotics and Autonomous Systems 28, no. 1 (July 1999): 43–52. http://dx.doi.org/10.1016/s0921-8890(99)00028-7.

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Nakamura, Yoshihiko, and Hideo Hanafusa. "Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control." Journal of Dynamic Systems, Measurement, and Control 108, no. 3 (September 1, 1986): 163–71. http://dx.doi.org/10.1115/1.3143764.

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The singularity problem is an inherent problem in controlling robot manipulators with articulated configuration. In this paper, we propose to determine the joint motion for the requested motion of the endeffector by evaluating the feasibility of the joint motion. The determined joint motion is called an inverse kinematic solution with singularity robustness, because it denotes feasible solution even at or in the neighborhood of singular points. The singularity robust inverse (SR-inverse) is introduced as an alternative to the pseudoinverse of the Jacobian matrix. The SR-inverse of the Jacobian matrix provides us with an approximating motion close to the desired Cartesian trajectory of the endeffector, even when the inverse kinematic solution by the inverse or the pseudoinverse of the Jacobian matrix is not feasible at or in the neighborhood of singular points. The properties of the SR-inverse are clarified by comparing it with the inverse and the pseudoinverse. The computational complexity of the SR-inverse is considered to discuss its implementability. Several simulation results are also shown to illustrate the singularity problem and the effectiveness of the inverse kinematic solution with singularity robustness.

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Hroncová, Darina, and Ingrid Delyová. "COMPUTER SIMULATION USING MSC ADAMS." Acta Mechatronica 5, no. 3 (September 30, 2020): 41–46. http://dx.doi.org/10.22306/am.v5i3.67.

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The goal of the presented paper is to compile a two-link model of manipulator and control the movement of the basket mounted at its end-effector. Authors focus on using MSC Adams in simulation of the motion of a two-link manipulator model. Attention is paid to kinematic and dynamic analysis of the manipulator, its modelling and control. The capability of MSC Adams Control Toolkit is used to design a control system which keeps the basket of the endeffector in horizontal position. Finally, the results obtained by computer simulation of the model are evaluated.

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Sturm, Christian, and Dieter Schramm. "On the Control of Tendon Based Parallel Manipulators." Solid State Phenomena 166-167 (September 2010): 395–402. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.395.

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Tendon based parallel manipulators are capable of realizing movement of high speed and acceleration. In order to perform tasks that require direct contact with the environment control schemes are needed that adapt both operational space variables and tendon forces. By use of an inverse dynamics approach a motion control scheme in operational space is presented. In redundant systems the forces that act along the tendons can be divided into internal forces, the sum of which is zero, and external forces, that produce the driving force for the endeffector. Based on that property an additional and decoupled force control scheme is presented.

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Mi, Jian Wei, Hong Bao, and Jing Li Du. "Synchronization Control of Planar 2-Dof Robot with Redundant Actuation." Advanced Materials Research 468-471 (February 2012): 1414–20. http://dx.doi.org/10.4028/www.scientific.net/amr.468-471.1414.

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Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, relatively small workspace and the strong coupling relationship among arms，a synchronization control strategy is presented in this paper. Since in the feedforward ,the inertial and the coriolis matrix are designed constant according to relatively small workspace, position measurement of the endeffector in plane is ignored. Synchronization error and coupling error are introduced to reject the model errors of inertial and coriolis matrix as stated above. Using the method, the errors of driving arms may be reduced, as well as synchronization performance among axes improves. The stability of the controllers was proved by Lyapunov. Finally, experimental results show the feasibility.

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Kim, Chang Hyun, Tae Yong Choi, Ju Jang Lee, Jeong Suh, Kyoung Taik Park, and Hee Shin Kang. "Reconfigurable 3D Laser-Stripe Sensor for Welding Processes." Materials Science Forum 580-582 (June 2008): 691–94. http://dx.doi.org/10.4028/www.scientific.net/msf.580-582.691.

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This paper describes the development of a reconfigurable 3D profile measurement system for welding robot. The system consists of a PC based vision camera and a stripe-type laser diode. The total system is assembled into a compact module which can be attached to the endeffector of welding robots. Especially, the developed system is designed to operate at different working distances. For this purpose, the reconfigurable mechanism which adjusts the focal length and the relative position between the camera and the laser diode is devised. These two configurations are automatically changing, according to the current working distance. Most parts of image processing such as camera calibration, correction of distortion, and line extraction are implemented and running on the PC. After measuring the welding profile, the 3D shape of the parent metal is obtained and some useful features for robot manipulation are calculated.

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Arima, Seiichi, and Naoshi Kondo. "Cucumber Harvesting Robot and Plant Training System." Journal of Robotics and Mechatronics 11, no. 3 (June 20, 1999): 208–12. http://dx.doi.org/10.20965/jrm.1999.p0208.

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Cucumber is one of the most popular vegetables cultivated in Japan. It must be harvested daily because of rapid maturation and the deterioration of quality in cucumbers harvested too late. We developed a cucumber harvesting robot using a visual sensor, manipulator, endeffector, and traveling device. To discriminate cucumbers from leaves and stems, we used a monochrome TV camera with 550 nm and 850 nm wavelength interference filters. After thresholding images, cucumbers were recognized morphologically. A seven degree-of-freedom (DOF) polar coordinate manipulator moved to a target cucumber and a harvesting end-effector grasped the top, detected the peduncle, and cut it. The manipulator and end-effector were trialmanufactured based on the cucumber's physical properties. A 4-wheel traveling device carrying the robot then moved to the next plant. Experiments verified the robot's feasibility in harvesting cucumbers.

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Herrero, Saioa, Charles Pinto, Mikel Diez, and Javier Corral. "Analytical Procedure Based on the Matrix Structural Method for the Analysis of the Stiffness of the 2PRU–1PRS Parallel Manipulator." Robotica 37, no. 08 (January 31, 2019): 1401–14. http://dx.doi.org/10.1017/s026357471900002x.

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SummaryParallel manipulators, especially those with outputs as one translation and two rotations (1T2R), are being increasingly studied. The kinematic chains of parallel manipulators share the loads and make the stiffness higher than the stiffness of serial manipulators with equivalent limbs. This high stiffness ensures a minimal deformation of the limbs, allowing a high positioning accuracy of the endeffector. Thus, it is very important to be able to measure the stiffness in parallel manipulators. In this work, we present a novel 1T2R multi-axial shaking table (MAST) for automobile pieces testing purposes—the 2PRU–1PRS parallel manipulator—and focus on the analysis of its stiffness all over the useful workspace. Analysis methods based on matrix structural method need to be validated for every parallel manipulator, and we present these steps along with a comparison between experimental and analytical methods.

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Jia, Qingxuan, Yong Liu, Gang Chen, and Hanxu Sun. "State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload." Open Mechanical Engineering Journal 9, no. 1 (October 7, 2015): 851–58. http://dx.doi.org/10.2174/1874155x0150901851.

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In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator’s load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. The integrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector, joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependent Riccati equation (SDRE) is established and solved by Taylor series approximation method. The motion planning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulator and the results are discussed to illustrate the effectiveness of the proposed approach.

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Nakamura, Tatsuya, and Zhiqi Liu. "Magnetic Linear Motion Mechanism of a 2-Parallel-Finger Hand for Force Operation." Journal of Robotics and Mechatronics 15, no. 6 (December 20, 2003): 624–31. http://dx.doi.org/10.20965/jrm.2003.p0624.

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Besides assembling, processes like drilling, cutting and pasting are required in various operations in manufacturing of small sized mechanics such as watches, mobile telephones etc. Force control is essential to those dexterous operations. Also absolute positioning of micro-manipulators is required for their autonomous operations. For this purpose, a linear motion hand with two parallel fingers was proposed. It uses a novel parallel link mechanism for linear motion and controls the endeffector by measuring its position with displacement sensors. It uses magnetic suspension technology so that fine force control is realized. An experimental system composed of two one-finger units is presented. The accuracy of positioning is a few μm with a range of tens mm. The accuracy of force control is 3 mN with a range of hundreds gf. The effectiveness of the proposed hand was verified by the application to drilling and fitting.

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Jia, Qingxuan, Yong Liu, Gang Chen, and Hanxu Sun. "State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload." Open Mechanical Engineering Journal 9, no. 1 (October 7, 2015): 992–99. http://dx.doi.org/10.2174/1874155x01509010992.

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In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator’s load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. The integrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector, joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependent Riccati equation (SDRE) is established and solved by Taylor series approximation method. The motion planning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulator and the results are discussed to illustrate the effectiveness of the proposed approach.

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ARAI, Fumihito, Daisuke ANDOU, Yukio NONODA, and Toshio FUKUDA. "Micro Manipulation Based on Physical Phenomena in Micro World. Principle and Prototype Experiments of Adhesion-type Micro Endeffector." Transactions of the Japan Society of Mechanical Engineers Series C 62, no. 604 (1996): 4630–35. http://dx.doi.org/10.1299/kikaic.62.4630.

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14

Galicki, M. "Kinematically Optimal Robust Control of Redundant Manipulators." International Journal of Applied Mechanics and Engineering 22, no. 4 (December 20, 2017): 839–65. http://dx.doi.org/10.1515/ijame-2017-0055.

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Abstract This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

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KORAYEM, M. H., H. TOURAJIZADEH, M. TAHERIFAR, and A. H. KORAYEM. "OPTIMAL FEEDBACK LINEARIZATION CONTROL OF A FLEXIBLE CABLE ROBOT." Latin American Applied Research - An international journal 44, no. 3 (July 31, 2014): 259–65. http://dx.doi.org/10.52292/j.laar.2014.450.

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In this paper the flexible cable robot tracking is controlled using optimal feedback linearization method. Feedback linearization is used to control the robot within a predefined trajectory while its controlling gains are optimized using LQR method to achieve the maximum payload of the endeffector in presence of flexibilities. Required motors’ torque and tracking error caused by flexibility uncertainties are calculated for a predefined trajectory of an under constrained cable robot with six Degrees of Freedom (DOF) and six actuating cables while its cables are considered elastic. Robust controller is also designed and added to the controller to ensure the accuracy and stability of the system and cancel any disturbing effects of the uncertainties. A series of analytic simulation study is done for the mentioned spatial cable robot to show the flexibility effect on dynamic performance of the robot and also prove the superiority of the proposed optimal control strategy to compensate these flexibilities. Finally the results are compared and verified with experimental results of the cable robot of ICaSbot to verify the proposed controlling strategy for controlling the mentioned flexible robot and also prove the correctness of the simulations.

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FUKUDA, Toshio, Koichi ONO, Yoshio KAWAUCHI, Guoqing XUE, Fumihito ARAI, Hajime ASAMA, Hiromichi OMORI, and Isao ENDO. "Dynamically reconfigurable robotic system. (7th report, A study of the concept, the mechanism and the control system of the self-organizing endeffector)." Transactions of the Japan Society of Mechanical Engineers Series C 57, no. 536 (1991): 1302–9. http://dx.doi.org/10.1299/kikaic.57.1302.

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Arimoto, Suguru, Morio Yoshida, Masahiro Sekimoto, and Kenji Tahara. "A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints." Journal of Robotics 2009 (2009): 1–16. http://dx.doi.org/10.1155/2009/892801.

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A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under holonomic or non-holonomic constraints is presented. First, position/force hybrid control of an endeffector of a multijoint redundant (or nonredundant) robot under a holonomic constraint is reinterpreted in terms of “submersion” in Riemannian geometry. A force control signal constructed in the image space of the constraint gradient is regarded as a lifting (or pressing) in the direction orthogonal to the kernel space. By means of the Riemannian distance on the constraint submanifold, stability of position control under holonomic constraints is discussed. Second, modeling and control of two-dimensional object grasping by a pair of multijoint robot fingers are challenged, when the object is of arbitrary shape. It is shown that rolling contact constraints induce the Euler equation of motion, in which constraint forces appear as wrench vectors affecting the object. The Riemannian metric is introduced on a constraint submanifold characterized with arclength parameters. An explicit form of the quotient dynamics is expressed in the kernel space with accompaniment of a pair of first-order differential equations concerning the arclength parameters. An extension of Dirichlet-Lagrange's stability theorem to redundant systems under constraints is suggested by introducing a Morse-Lyapunov function.

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de Lotbiniere-Bassett, M., S. Choi, S. Lama, GR Sutherland, and H. Hoshyarman. "P.118 Excalibur, a novel haptic hand-controller for robot-assisted microsurgery." Canadian Journal of Neurological Sciences / Journal Canadien des Sciences Neurologiques 46, s1 (June 2019): S44—S45. http://dx.doi.org/10.1017/cjn.2019.211.

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Background: For robot-assisted telesurgery, the workstation, in particular the haptic handcontroller itself a robot, is paramount to the performance of surgery. Based on the requirements for microsurgery, a novel haptic handcontroller Excalibur has been developed. Methods: Thirty-two surgeons performed a peg-in-hole task (simulating micromanipulation) with Excalibur and two commercially available handcontrollers (Sigma 7 and PHANToM Premium 3.0). A modified Kuka endeffector with bipolar forceps, and Leica microscope completed the remote robotic site. Comparisons were made based on training time, task completion time and number of errors. All participants completed a questionnaire. Results: Repeated measures ANOVA demonstrated significance for task completion time (p=0.004), training time (p=0.021) and number of errors (p=0.004). Surgeons were faster with Excalibur (72s) than with Sigma (96s,p=0.005) and PHANToM (96s,p=0.036). Training time was shorter with Excalibur than with PHANToM (210s vs 310s,p=0.013), and users made fewer errors (0.7 vs 2.1,p=0.008). Training time required for Sigma (285s) and the number of errors (1.3) were not significant. The surgeons found Excalibur smoother, more comfortable, less tiring and easier to maneuver, with more realistic force feedback and superior movement fidelity. Conclusions: Surgical performance was superior with Excalibur compared to the other handcontrollers. This may reflect the microsurgical requirements and unique design architecture of Excalibur.

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Tankus, Ariel, Yehezkel Yeshurun, Tamar Flash, and Itzhak Fried. "Encoding of speed and direction of movement in the human supplementary motor area." Journal of Neurosurgery 110, no. 6 (June 2009): 1304–16. http://dx.doi.org/10.3171/2008.10.jns08466.

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Object The supplementary motor area (SMA) plays an important role in planning, initiation, and execution of motor acts. Patients with SMA lesions are impaired in various kinematic parameters, such as velocity and duration of movement. However, the relationships between neuronal activity and these parameters in the human brain have not been fully characterized. This is a study of single-neuron activity during a continuous volitional motor task, with the goal of clarifying these relationships for SMA neurons and other frontal lobe regions in humans. Methods The participants were 7 patients undergoing evaluation for epilepsy surgery requiring implantation of intracranial depth electrodes. Single-unit recordings were conducted while the patients played a computer game involving movement of a cursor in a simple maze. Results In the SMA proper, most of the recorded units exhibited a monotonic relationship between the unit firing rate and hand motion speed. The vast majority of SMA proper units with this property showed an inverse relation, that is, firing rate decrease with speed increase. In addition, most of the SMA proper units were selective to the direction of hand motion. These relationships were far less frequent in the pre-SMA, anterior cingulate gyrus, and orbitofrontal cortex. Conclusions The findings suggest that the SMA proper takes part in the control of kinematic parameters of endeffector motion, and thus lend support to the idea of connecting neuroprosthetic devices to the human SMA.

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Römer, Martin, Johannes Bergers, Felix Gabriel, and Klaus Dröder. "Temperature Control for Automated Tape Laying with Infrared Heaters Based on Reinforcement Learning." Machines 10, no. 3 (February 22, 2022): 164. http://dx.doi.org/10.3390/machines10030164.

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The use of fiber-reinforced lightweight materials in the field of electromobility offers great opportunities to increase the range of electric vehicles and also enhance the functionality of the components themselves. In order to meet the demand for a high number of variants, flexible production technologies are required which can quickly adapt to different component variants and thereby avoid long setup times of the required production equipment. By applying the formflexible process of automated tape laying (ATL), it is possible to build lightweight components in a variant-flexible way. Unidirectional (UD) tapes are often used to build up lightweight structures according to a predefined load path. However, the UD tape which is used to build the components is particularly sensitive to temperature fluctuations due to its low thickness. Temperature fluctuations within the production sites as well as the warming of the tape layer and the deposit surface over longer process times have an impact on the heat flow which is infused to the tape and make an adaptive control of the tape heating indispensable. At present, several model-based control strategies are available. However, these strategies require a comprehensive understanding of the ATL system and its environment and are therefore difficult to design. With the possibility of model-free reinforcement learning, it is possible to build a temperature control system that learns the common dependencies of both the process being used and its operating environment, without the need to rely on a complete understanding of the physical interrelationships. In this paper, a reinforcement learning approach based on the deep deterministic policy gradient (DDPG) algorithm is presented, with the aim to control the temperature of an ATL endeffector based on infrared emitters. The algorithm was adapted to the thermal inertia of the system and trained in a real process environment. With only a small amount of training data, the trained DDPG agent was able to reliably maintain the ATL process temperatures within a specified tolerance range. By applying this technique, UD tape can be deposited at a consistent process temperature over longer process times without the need for a cooling system. Reducing process complexity can help to increase the prevalence of lightweight components and thus contribute to lower energy consumption of electric vehicles.

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Cannon, David J., and Geb Thomas. "Virtual Tools for Supervisory and Collaborative Control of Robots." Presence: Teleoperators and Virtual Environments 6, no. 1 (February 1997): 1–28. http://dx.doi.org/10.1162/pres.1997.6.1.1.

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Often, robotics has failed to meet industry expectations because programming robots is tedious, requires specialists, and often does not provide enough real flexibility to be worth the investment. In order to advance beyond a possible robotics plateau, an integrating technology will need to emerge that can take advantage of complex new robotic capabilities while making systems easier for nonrobotics people to use. This research introduces virtual tools with robotic attributes, and collaborative control concepts, that enable experts in areas other than robotics to simply point and direct sophisticated robots and machines to do new tasks. A system of robots that are directed using such virtual tools is now in place at the Pennsylvania State University (Penn State) and has been replicated at Sandia National Laboratories. (Mpeg movies from the Penn State Virtual Tools and Robotics Laboratory are at http://virtuoso.psu.edu/ mpeg_page.html.) Virtual tools, which appear as graphic representations of robot endeffectors interwoven into live video, carry robotic attributes that define trajectory details and determine how to interpret sensor readings for a particular type of task. An operator, or team of experts, directs robot tasks by virtually placing these tool icons in the scene. The operator(s) direct tasks involving attributes in the same natural way that supervisors direct human subordinates to, for example, “put that there,” “dig there,” “cut there,” and “grind there.” In this human-machine interface, operators do not teach entire tasks via virtual telemanipulation. They define key action points. The virtual tool attributes allow operators to stay at a supervisory level, doing what humans can do best in terms of task perceptualization, while robots plan appropriate trajectories and a variety of tool-dependent executions. Neither the task experts (e.g., in hazardous environments) nor the plant supervisors (e.g., in remote manufacturing applications) must turn over control to specialized robot technicians for long periods. Within this concept, shutting down a plant to reprogram robots to produce a new product, for example, is no longer required. Further, even though several key collaborators may be in different cities for a particular application, they may work with other experts over a project net that is formed for a particular mission. (We link simply by sending video frames over Netscape.) Using a shared set of virtual tools displayed simultaneously on each of the collaborator workstations, experts virtually enter a common videographic scene to direct portions of a task while graphically and verbally discussing alternatives with the other experts. In the process of achieving collaborative consensus, the robots are automatically programmed as a byproduct of using the virtual tools to decide what should be done and where. The robots can immediately execute the task for all to see once consensus is reached. Virtual tools and their attributes achieve robotic flexibility without requiring specialized programming or telemanipulation on the part of in situ operators. By sharing the virtual tools over project nets, noncollocated experts may now contribute to robot and intelligent machine tasks. To date, we have used virtual tools to direct a large gantry robot at Sandia National Laboratories from Penn State. We will soon have multiple collaborators sharing the virtual tools remotely, with a protocol for participants to take turns placing and moving virtual tools to define portions of complex tasks in other industrial, space-telerobotic, and educational environments. Attributes from each area of robotics research are envisioned with virtual tools as a repository for combining these independently developed robotic capabilities into integrated entities that are easy for an operator to understand, use, and modify.

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Hennes, M., K. Bollue, H. Arenbeck, D. Abel, and C. Disselhorst-Klug. "Patient Supervision During Endeffector Based Robot Assisted Rehabilitation of Upper Extremities." Biomedical Engineering / Biomedizinische Technik 57, SI-1 Track-R (January 6, 2012). http://dx.doi.org/10.1515/bmt-2012-4385.

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Csencsics, Ernst, Markus Thier, Shingo Ito, and Georg Schitter. "Supplemental Peak Filters for Advanced Disturbance Rejection on a High Precision Endeffector for Robot-based Inline Metrology." IEEE/ASME Transactions on Mechatronics, 2021, 1. http://dx.doi.org/10.1109/tmech.2021.3103040.

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BENES, PETR, JAN HLADIK, JAN PELIKAN, ZDENEK NEUSSER, MARTIN NECAS, JIRI SVEDA, MICHAEL VALASEK, and ZBYNEK SIKA. "CALIBRATION OF THE ROBOTIC ARM WITH CORRECTIONS USING LOCAL LINEAR NEURO-FUZZY MODELS." MM Science Journal 2022, no. 5 (December 14, 2022). http://dx.doi.org/10.17973/mmsj.2022_12_2022160.

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The paper deals with the enhancement of the robotic arm calibration using corrections based on local linear neuro-fuzzy models. After the standard calibration of the geometric parameters in the robot's kinematic model, there are still residual errors between the measured positions and the positions predicted by the model. The source of these errors are various non-geometric parameters and nonlinear phenomena that traditional kinematic calibration models do not include. The neuro-fuzzy model based on a locally linear model tree can approximate the residual error as a function of the robot's joint angles. Adding this approximation to the output of the calibrated robot model significantly increases the accuracy of the endeffector position. The results of the described method were verified and compared with other approaches on a simulation model of a flexible planar two-link mechanism. Experimental verification was performed on an industrial robot Stäubli TX200 with data measured by Leica laser tracking device.

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Watanabe, Tetsuyou. "Effect of Torque-Velocity Relationship on Manipulability for Robot Manipulators." Journal of Mechanisms and Robotics 3, no. 4 (September 27, 2011). http://dx.doi.org/10.1115/1.4004895.

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This paper presents novel manipulability analysis for robotic manipulators, taking the effect of generating joint torques on generable joint velocities and vice versa into consideration. The conventional manipulability is analysis in velocity domain and cannot concern force effect such as gravity of payload and external forces exerted on the endeffector. Gravitational force has been regarded that it just changes the origin of the manipulability ellipsoid expressing the set of generable tip velocities, and its evaluation (its volume) does not change. However, if robot grasps a heavy object, the robot cannot move with the same speed as the case of grasping a light object, because the power of the robot is limited. It indicates that the robot performance evaluation by conventional manipulability has serious problem that the force effect cannot be included. The power of the robot is determined by the operation range of every actuator, which tells us the relationship between generating torque/velocity and addable velocity/torque. Then, this paper presents novel manipulability analysis which can take the force effect into consideration, based on the torque-velocity relationship. This analysis shows that manipulability is influenced by payload, gravitational force, and external forces.

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Tommasino, Domenico, Matteo Bottin, Giulio Cipriani, Alberto Doria, and Giulio Rosati. "Development and validation of an end-effector for mitigation of collisions." Journal of Mechanical Design, September 16, 2021, 1–33. http://dx.doi.org/10.1115/1.4052443.

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Abstract In robotics the risk of collisions is present both in industrial applications and in remote handling. If a collision occurs, the impact may damage both the robot and external equipment, which may result in successive imprecise robot tasks or line stops, reducing robot efficiency. As a result, appropriate collision avoidance algorithms should be used or, if it is not possible, the robot must be able to react to impacts reducing the contact forces. For this purpose, this paper focuses on the development of a special end-effector that can withstand impacts. It is able to protect the robot from impulsive forces caused by collisions of the end-effector, but it has no effect on possible collisions between the links and obstacles. The novel end-effector is based on a bi-stable mechanism that decouples the dynamics of the end-effector from the dynamics of the robot. The intrinsically non-linear behavior of the endeffector is investigated with the aid of numerical simulations. The effect of design parameters and operating conditions are analyzed and the interaction between the functioning of the bi-stable mechanism and the control system is studied. In particular, the effect of the mechanism in different scenarios characterized by different robot velocities is shown. Results of numerical simulations assess the validity of the proposed end-effector, which can lead to large reductions in impact forces. Numerical results are validated by means of specific laboratory tests.

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Jeanneau, Guillaume, Vincent Bégoc, and Sebastien Briot. "Experimental Safety Analysis of R-Min, an underactuated parallel Robot." Journal of Mechanisms and Robotics, January 25, 2023, 1–21. http://dx.doi.org/10.1115/1.4056765.

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Abstract The R-Min robot is an intrinsically safe parallel manipulator dedicated to pick-and-place operations. The proposed architecture is based on a five-bar mechanism, with additional passive joints in order to obtain a planar sevenbar mechanism with two degrees of underactuation, allowing the robot to reconfigure in case of a collision. A preload bar is added between the base and the endeffector to constrain the additional degrees of freedom. This article presents an analysis of the workspace and of the safety performances of the R-Min robot, and it compares them with those of the five-bar mechanism, in order to evaluate the benefits of introducing underactuation in a parallel architecture to obtain intrinsically safer robots. The geometrico-static model of the R-Min robot is formulated as an optimisation problem. The direct and inverse kinemato-static models are derived from the geometricostatic model and they allow to express the singularity conditions of the R-Min robot. An analysis of the singularity loci is carried out among the robot's workspace. A controller based on the dynamic model is proposed and experimentally validated on a prototype of the R-Min robot. Finally, the safety performances of the R-Min robot are evaluated experimentally and they are compared with that of an equivalent five-bar mechanism, using the maximum impact force as a safety criteria in accordance with recent international standards.

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Journal articles on the topic 'Endeffector'

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