Academic literature on the topic 'Franka Emika Panda'
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Journal articles on the topic "Franka Emika Panda"
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Gaz, Claudio, Marco Cognetti, Alexander Oliva, Paolo Robuffo Giordano, and Alessandro De Luca. "Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization." IEEE Robotics and Automation Letters 4, no. 4 (October 2019): 4147–54. http://dx.doi.org/10.1109/lra.2019.2931248.
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Lind, Morten. "Real-time quintic Hermite interpolation for robot trajectory execution." PeerJ Computer Science 6 (November 2, 2020): e304. http://dx.doi.org/10.7717/peerj-cs.304.
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This paper presents a real-time joint trajectory interpolation system for the purpose of frequency scaling the low cycle time of a robot controller, allowing a Python application to real-time control the robot at a moderate cycle time. Interpolation is based on quintic Hermite piece-wise splines. The splines are calculated in real-time, in a piecewise manner between the high-level, long cycle time trajectory points, while sampling of these splines at an appropriate, shorter cycle time for the real-time requirement of the lower-level system. The principle is usable in general, and the specific implementation presented is for control of the Panda robot from Franka Emika. Tracking delay analysis is presented based on a cosine trajectory. A simple test application has been implemented, demonstrating real-time feeding of a pre-calculated trajectory for cutting with a knife. Estimated forces on the robot wrist are recorded during cutting and presented in the paper.
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Roveda, Loris, Andrea Bussolan, Francesco Braghin, and Dario Piga. "6D Virtual Sensor for Wrench Estimation in Robotized Interaction Tasks Exploiting Extended Kalman Filter." Machines 8, no. 4 (October 27, 2020): 67. http://dx.doi.org/10.3390/machines8040067.
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Industrial robots are commonly used to perform interaction tasks (such as assemblies or polishing), requiring the robot to be in contact with the surrounding environment. Such environments are (partially) unknown to the robot controller. Therefore, there is the need to implement interaction controllers capable of suitably reacting to the established contacts. Although standard force controllers require force/torque measurements to close the loop, most of the industrial manipulators do not have installed force/torque sensor(s). In addition, the integration of external sensors results in additional costs and implementation effort, not affordable in many contexts/applications. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper for the online estimation of the interaction wrench, implementing a 6D virtual sensor. Relying on sensorless Cartesian impedance control, an Extended Kalman Filter (EKF) is proposed for the interaction wrench estimation. The described approach has been validated in simulations, taking into account four different scenarios. In addition, experimental validation has been performed employing a Franka EMIKA panda robot. A human–robot interaction scenario and an assembly task have been considered to show the capabilities of the developed EKF, which is able to perform the estimation with high bandwidth, achieving convergence with limited errors.
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Filippeschi, Alessandro, Pietro Griffa, and Carlo Alberto Avizzano. "Kinematic Optimization for the Design of a Collaborative Robot End-Effector for Tele-Echography." Robotics 10, no. 1 (January 1, 2021): 8. http://dx.doi.org/10.3390/robotics10010008.
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Tele-examination based on robotic technologies is a promising solution to solve the current worsening shortage of physicians. Echocardiography is among the examinations that would benefit more from robotic solutions. However, most of the state-of-the-art solutions are based on the development of specific robotic arms, instead of exploiting COTS (commercial-off-the-shelf) arms to reduce costs and make such systems affordable. In this paper, we address this problem by studying the design of an end-effector for tele-echography to be mounted on two popular and low-cost collaborative robots, i.e., the Universal Robot UR5, and the Franka Emika Panda. In the case of the UR5 robot, we investigate the possibility of adding a seventh rotational degree of freedom. The design is obtained by kinematic optimization, in which a manipulability measure is an objective function. The optimization domain includes the position of the patient with regards to the robot base and the pose of the end-effector frame. Constraints include the full coverage of the examination area, the possibility to orient the probe correctly, have the base of the robot far enough from the patient’s head, and a suitable distance from singularities. The results show that adding a degree of freedom improves manipulability by 65% and that adding a custom-designed actuated joint is better than adopting a native seven-degrees-freedom robot.
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Roveda, Loris, and Dario Piga. "Robust state dependent Riccati equation variable impedance control for robotic force-tracking tasks." International Journal of Intelligent Robotics and Applications 4, no. 4 (November 15, 2020): 507–19. http://dx.doi.org/10.1007/s41315-020-00153-0.
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AbstractIndustrial robots are increasingly used in highly flexible interaction tasks, where the intrinsic variability makes difficult to pre-program the manipulator for all the different scenarios. In such applications, interaction environments are commonly (partially) unknown to the robot, requiring the implemented controllers to take in charge for the stability of the interaction. While standard controllers are sensor-based, there is a growing need to make sensorless robots (i.e., most of the commercial robots are not equipped with force/torque sensors) able to sense the environment, properly reacting to the established interaction. This paper proposes a new methodology to sensorless force control manipulators. On the basis of sensorless Cartesian impedance control, an Extended Kalman Filter (EKF) is designed to estimate the interaction exchanged between the robot and the environment. Such an estimation is then used in order to close a robust high-performance force loop, designed exploiting a variable impedance control and a State Dependent Riccati Equation (SDRE) force controller. The described approach has been validated in simulations. A Franka EMIKA panda robot has been considered as a test platform. A probing task involving different materials (i.e., with different stiffness properties) has been considered to show the capabilities of the developed EKF (able to converge with limited errors) and controller (preserving stability and avoiding overshoots). The proposed controller has been compared with an LQR controller to show its improved performance.
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Roveda, Loris, and Dario Piga. "Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks." Autonomous Robots 45, no. 3 (March 2021): 371–88. http://dx.doi.org/10.1007/s10514-021-09970-z.
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AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.
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Simonič, Mihael, Tadej Petrič, Aleš Ude, and Bojan Nemec. "Analysis of Methods for Incremental Policy Refinement by Kinesthetic Guidance." Journal of Intelligent & Robotic Systems 102, no. 1 (April 15, 2021). http://dx.doi.org/10.1007/s10846-021-01328-y.
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AbstractTraditional robot programming is often not feasible in small-batch production, as it is time-consuming, inefficient, and expensive. To shorten the time necessary to deploy robot tasks, we need appropriate tools to enable efficient reuse of existing robot control policies. Incremental Learning from Demonstration (iLfD) and reversible Dynamic Movement Primitives (DMP) provide a framework for efficient policy demonstration and adaptation. In this paper, we extend our previously proposed framework with improvements that provide better performance and lower the algorithm’s computational burden. Further, we analyse the learning stability and evaluate the proposed framework with a comprehensive user study. The proposed methods have been evaluated on two popular collaborative robots, Franka Emika Panda and Universal Robot UR10.
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Wu, Yongxiang, Yili Fu, and Shuguo Wang. "Global motion planning and redundancy resolution for large objects manipulation by dual redundant robots with closed kinematics." Robotica, August 9, 2021, 1–26. http://dx.doi.org/10.1017/s0263574721000941.
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Abstract The multi-arm robotic systems consisting of redundant robots are able to conduct more complex and coordinated tasks, such as manipulating large or heavy objects. The challenges of the motion planning and control for such systems mainly arise from the closed-chain constraint and redundancy resolution problem. The closed-chain constraint reduces the configuration space to lower-dimensional subsets, making it difficult for sampling feasible configurations and planning path connecting them. A global motion planner is proposed in this paper for the closed-chain systems, and motions in different disconnected manifolds are efficiently bridged by two type regrasping moves. The regrasping moves are automatically chosen by the planner based on cost-saving principle, which greatly improve the success rate and efficiency. Furthermore, to obtain the optional inverse kinematic solutions satisfying joint physical limits (e.g., joint position, velocity, acceleration limits) in the planning, the redundancy resolution problem for dual redundant robots is converted into a unified quadratic programming problem based on the combination of two diff erent-level optimizing criteria, i.e. the minimization velocity norm (MVN) and infinity norm torque-minimization (INTM). The Dual-MVN-INTM scheme guarantees smooth velocity, acceleration profiles, and zero final velocity at the end of motion. Finally, the planning results of three complex closed-chain manipulation task using two Franka Emika Panda robots and two Kinova Jaco2 robots in both simulation and experiment demonstrate the effectiveness and efficiency of the proposed method.
Dissertations / Theses on the topic "Franka Emika Panda"
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Iacobucci, Marco. "Dynamic parameter identification of a collaborative robot." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
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I robot collaborativi stanno guadagnando un interesse crescente nel campo della robotica. Dal momento che l'industria 4.0 richiede nuovi livelli di flessibilità e soluzioni innovative di prodotto, robot e umani recentemente hanno iniziato ad interagire e lavorare in un 'ambiente comune senza protezioni perimetrali. Questa tecnologia emergente può provvedere all'operatore supporto fisico o assistenza nello svolgere compiti pericolosi o faticosi. In questo scenario, un controllo in tempo reale dovrebbe essere il più affidabile possibile e minimizzare ogni rischio legato alla collaborazione tra uomo e robot.
L'obiettivo di questa tesi è l'identificazione dei coefficienti dinamici che linearizzano il modello del robot e dei parametri dinamici (massa, posizione del centro di massa ed elementi dei tensori d'inerzia di ciascun membro), utili per simulare il comportamento del robot in ambiente CAD, per ottenere simulazioni dinamiche più realistiche e algoritmi di controllo in tempo reale più affidabili.
Un approccio di identificazione dinamica è presentato per il Franka Emika Panda, un robot collaborativo a 7 gradi di libertà. Questo consiste nel suddividere l'identificazione in due fasi: una prima fase in cui si analizzano le sole configurazioni statiche del robot per ottenere un set di possibili masse e centri di massa, ed una seconda fase in cui si considera il robot in movimento ed è possibile ottenere alcuni valori degli elementi dei tensori d'inerzia. Seguendo questo approccio, è possibile ottenere una stima più precisa dei parametri di massa e di posizione dei centri di massa rispetto ad un approccio in cui l'identificazione viene compiuta in una singola fase, cosa che è stata successivamente dimostrata da alcuni test eseguiti sul robot stesso, i cui risultati sono stati confrontati con quelli ottenuti seguendo un altro approccio e quelli restituiti direttamente dalla libreria del robot.
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Arlotti, Luca. "Studio di fattibilità tecnico economico per l'automazione di un reparto presse tramite l'applicazione di cobot." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018. http://amslaurea.unibo.it/16184/.
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In questa tesi viene eseguita una ricerca applicativa sull'implementazione di un robot collaborativo, con lo scopo di sgravare gli operatori da mansioni ripetitive e impiegare il loro tempo per migliorare la qualità della produzione e dei prodotti finali.
Dopo una parte introduttiva dedicata alla descrizione dei punti salienti dell’Industria 4.0 e alle scelte che il mercato propone riguardo ai robot collaborativi, si è preso in considerazione il caso specifico di ASA San Marino: l’analisi del processo produttivo del reparto presse ha posto la lente di ingrandimento sulle mansioni che il singolo operatore è chiamato a svolgere. Le problematiche evidenziate non riguardavano tutto il reparto ma solo un gruppo di 6 macchine che operano su più turni e costantemente. Per risolvere le problematiche si è ipotizzata un’implementazione robotica di tipo collaborativa, che potesse garantire l’interazione tra uomo e macchina, che non invadesse il layout di reparto con gabbie di recinzione e che, soprattutto, fosse di facile e veloce installazione.
Partendo dall'esperienza maturata durante il percorso di tirocinio in ambito di programmazione del cobot, l’obiettivo della tesi è arrivare all'installazione effettiva del cobot al termine del processo di produzione della pressa, utilizzandolo per pallettizzare i prodotti in maniera automatica, collaborando con l’operatore nel raggiungimento dell’obiettivo comune. Per ottenere ciò si è dunque passati prima per un’analisi delle caratteristiche del cobot, inquadrando le sue esigenze e definendo i suoi limiti, poi risolvendo i vari problemi sorti e implementando il sistema per far svolgere le mansioni al robot senza l’aiuto di altri macchinari che richiedessero modifiche del layout.
Book chapters on the topic "Franka Emika Panda"
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Muratore, Luca, Arturo Laurenzi, and Nikos G. Tsagarakis. "XBot: A Cross-Robot Software Framework for Real-Time Control." In Robotics Software Design and Engineering. IntechOpen, 2021. http://dx.doi.org/10.5772/intechopen.97066.
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The widespread use of robotics in new application domains outside the industrial workplace settings requires robotic systems which demonstrate functionalities far beyond that of classical industrial robotic machines. The implementation of these capabilities inevitably increases the complexity of the robotic hardware, control a and software components. This chapter introduces the XBot software architecture for robotics, which is capable of Real-Time (RT) performance with minimum jitter at relatively high control frequency while demonstrating enhanced flexibility and abstraction features making it suitable for the control of robotic systems of diverse hardware embodiment and complexity. A key feature of the XBot is its cross-robot compatibility, which makes possible the use of the framework on different robots, without code modifications, based only on a set of configuration files. The design of the framework ensures easy interoperability and built-in integration with other existing software tools for robotics, such as ROS, YARP or OROCOS, thanks to a robot agnostic API called XBotInterface. The framework has been successfully used and validated as a software infrastructure for collaborative robotic arms as KUKA lbr iiwa/lwr 4+ and Franka Emika Panda, other than humanoid robots such as WALK-MAN and COMAN+, and quadruped centaur-like robots as CENTAURO.