Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

International Nuclear Information System (INIS)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng

2015-01-01

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

Leal, Alexandre S.; Campos, Tarcisio P.R.

1995-01-01

Robotic application for industrial plants is discussed and a computational model for a mechanical manipulator of three links is presented. A neural network feed-forward type has been used to model the dynamic control of the manipulator. A graphic interface was developed in C programming language as a virtual world in order to visualize and simulate the arm movements handling radioactive waste environment. (author). 7 refs, 5 figs

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

OpenAIRE

Jolly Atit Shah; S.S. Rattan; B.C. Nakra

2013-01-01

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H) model is used to m...

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

Directory of Open Access Journals (Sweden)

Jolly Atit Shah

2013-03-01

Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB R2007 is used to analyse end effectors position for a set of joint parameter.

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

An octopus-bioinspired solution to movement and manipulation for soft robots

Energy Technology Data Exchange (ETDEWEB)

Calisti, M; Giorelli, M; Laschi, C; Dario, P [BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa (Italy); Levy, G; Hochner, B [Hebrew University of Jerusalem, Jerusalem (Israel); Mazzolai, B, E-mail: marcello.calisti@sssup.it, E-mail: michele.giorelli@sssup.it, E-mail: guy.levy@mail.huji.ac.il, E-mail: barbara.mazzolai@iit.it, E-mail: Binyamin.Hochner@huji.ac.il, E-mail: cecilia.laschi@sssup.it, E-mail: paolo.dario@sssup.it [Centre for Micro-BioRobotics-SSSA, Istituto Italiano di Tecnologia, Pontedera (Italy)

2011-09-15

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

An octopus-bioinspired solution to movement and manipulation for soft robots

International Nuclear Information System (INIS)

Calisti, M; Giorelli, M; Laschi, C; Dario, P; Levy, G; Hochner, B; Mazzolai, B

2011-01-01

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

An octopus-bioinspired solution to movement and manipulation for soft robots.

Science.gov (United States)

Calisti, M; Giorelli, M; Levy, G; Mazzolai, B; Hochner, B; Laschi, C; Dario, P

2011-09-01

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

Dynamic whole-body robotic manipulation

Science.gov (United States)

Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

2013-05-01

The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs

Virtual modeling of robot-assisted manipulations in abdominal surgery.

Science.gov (United States)

Berelavichus, Stanislav V; Karmazanovsky, Grigory G; Shirokov, Vadim S; Kubyshkin, Valeriy A; Kriger, Andrey G; Kondratyev, Evgeny V; Zakharova, Olga P

2012-06-27

To determine the effectiveness of using multidetector computed tomography (MDCT) data in preoperative planning of robot-assisted surgery. Fourteen patients indicated for surgery underwent MDCT using 64 and 256-slice MDCT. Before the examination, a specially constructed navigation net was placed on the patient's anterior abdominal wall. Processing of MDCT data was performed on a Brilliance Workspace 4 (Philips). Virtual vectors that imitate robotic and assistant ports were placed on the anterior abdominal wall of the 3D model of the patient, considering the individual anatomy of the patient and the technical capabilities of robotic arms. Sites for location of the ports were directed by projection on the roentgen-positive tags of the navigation net. There were no complications observed during surgery or in the post-operative period. We were able to reduce robotic arm interference during surgery. The surgical area was optimal for robotic and assistant manipulators without any need for reinstallation of the trocars. This method allows modeling of the main steps in robot-assisted intervention, optimizing operation of the manipulator and lowering the risk of injuries to internal organs.

Robotic arm

Science.gov (United States)

Kwech, Horst

1989-04-18

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

Robotic arm

International Nuclear Information System (INIS)

Kwech, H.

1989-01-01

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

Making planned paths look more human-like in humanoid robot manipulation planning

DEFF Research Database (Denmark)

Zacharias, F.; Schlette, C.; Schmidt, F.

2011-01-01

It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target...... for the robot arm....

Dual-arm manipulation module for use in decontamination and decommissioning operations

International Nuclear Information System (INIS)

Hamel, W.R.; Haley, D.C.; Dixon, W.E.

1994-01-01

A dual-arm manipulation module is under development for application in decontamination and decommissioning (D ampersand D) tasks. The development is led by Oak Ridge National Laboratory with support from Sandia National Laboratories, and with university and industry participation. The project is part of the Robotics Technology Development Program funded by the US Department of Energy, Environmental Restoration and Waste Management, Office of Technology Development. The dual-arm module is designed to provide dexterous manipulation capability for remote characterization, decontamination, and dismantlement operations, and the module is reconfigurable to meet various deployment requirements. Remote manipulation capability can benefit D ampersand D activities through reduced worker exposure to both contaminant and industrial hazards. When tasks conditions permit, increased use of robotic features reduce costs by increased efficiency of operation

Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

Science.gov (United States)

Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

2012-05-01

In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

Practical application with plc in manipulation of a robotic arm

Directory of Open Access Journals (Sweden)

Cristian Barz

2014-12-01

Full Text Available This paper presents the use of a robotic arm PLC Siemens in order not using CNC commands. This is done by programming the PLC ladder diagram language that makes movement on the three axes of the arm by means of stepper motors. Required command console PLC is built with the help of a touch screen HMI Weintek. In the user interface are introduced distances and displacement speeds on the three axes.

Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

Directory of Open Access Journals (Sweden)

M. Riedel

2010-12-01

Full Text Available In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

Efficient inverse position transformation for TR 4000S robot manipulator

Directory of Open Access Journals (Sweden)

Kesheng Wang

1989-04-01

Full Text Available An efficient method is developed for computing the inverse kinematic position solution with a closed form for the TR 4000S spray painting robot manipulator with five degrees of freedom and non-spherical wrist construction. The inverse kinematic problem is defined as the transformation from Cartesian space to the joint space. The solution is based on the geometrical separation of the arm and wrist of a robot manipulator and shows that it is very systematic, efficient and easily derived.

Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm

OpenAIRE

Baki Koyuncu; Mehmet Güzel

2007-01-01

The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used to model robot links and joints in this study. Both forward and inverse kinematics solutions for th...

A portable modular architecture for robotic manipulator control

International Nuclear Information System (INIS)

Butler, P.L.

1993-01-01

A control architecture has been developed to provide a framework for robotic manipulator control. This architecture, called the Modular Integrated Control Architecture (MICA), has been successfully applied to two different manipulator systems. MICA is a portable system in two respects. First, it can be used for the control of different types of manipulator systems. Second, the MICA code is portable across several operating environments. This portability allows the sharing of common control code among various systems. A major portion of MICA is the precise control of multiple processors that have to be coordinated to control a manipulator system. By having NUCA control the processor synchronization, the system developer can concentrate on the specific aspects of a new manipulator system. MICA also provides standard functions for trajectory generation that can be used for most manipulators. Custom trajectory generators can be easily added to suit the needs of a particular robotic control system. Another facility that MICA provides is a simulation of the manipulator, allowing the control code to be simulated before trying it on a manipulator system. Using this technique, one can develop code for a manipulator system without risking damage to the arm during development

Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

Science.gov (United States)

Snead, C. J.; Jang, J. H.; Cowden, T. R.; McCubbin, F. M.

2018-01-01

The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with

An adaptive inverse kinematics algorithm for robot manipulators

Science.gov (United States)

Colbaugh, R.; Glass, K.; Seraji, H.

1990-01-01

An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

Manipulator motion planning for high-speed robotic laser cutting

OpenAIRE

Dolgui , Alexandre; Pashkevich , Anatol

2009-01-01

Abstract Recent advances in laser technology, and especially the essential increase of the cutting speed, motivate amending the existing robot path methods, which do not allow the complete utilisation of the actuator capabilities as well as neglect some particularities in the mechanical design of the wrist of the manipulator arm. This research addresses the optimisation of the 6-axes robot motions for continuous contour tracking while considering the redundancy caused by the tool a...

Maximizing Use of Robot-Arm No. 3 in Da Vinci–Assisted Thoracic Surgery

Science.gov (United States)

Kajiwara, Naohiro; Maeda, Junichi; Yoshida, Koichi; Kato, Yasufumi; Hagiwara, Masaru; Kakihana, Masatoshi; Ohira, Tatsuo; Kawate, Norihiko; Ikeda, Norihiko

2015-01-01

We have previously reported on the importance of appropriate robot-arm settings and replacement of instrument ports in robot-assisted thoracic surgery, because the thoracic cavity requires a large space to access all lesions in various areas of the thoracic cavity from the apex to the diaphragm and mediastinum and the chest wall.1–3 Moreover, it can be difficult to manipulate the da Vinci Surgical System using only arms No. 1 and No. 2 depending on the tumor location. However, arm No. 3 is usually positioned on the same side as arm No. 2, and sometimes it is only used as an assisting-arm to avoid conflict with other arms (Fig. 1). In this report, we show how robot-arm No. 3 can be used with maximum effectiveness in da Vinci-assisted thoracic surgery. PMID:26011219

Powered manipulator control arm

International Nuclear Information System (INIS)

Le Mouee, Theodore; Vertut, Jean; Marchal, Paul; Germon, J.C.; Petit, Michel

1975-01-01

A remote operated control arm for powered manipulators is described. It includes an assembly allowing several movements with position sensors for each movement. The number of possible arm movements equals the number of possible manipulator movements. The control systems may be interrupted as required. One part of the arm is fitted with a system to lock it with respect to another part of the arm without affecting the other movements, so long as the positions of the manipulator and the arm have not been brought into complete coincidence. With this system the locking can be ended when complete concordance is achieved [fr

JACoW A dual arms robotic platform control for navigation, inspection and telemanipulation

CERN Document Server

Di Castro, Mario; Ferre, Manuel; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

2018-01-01

High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system comm...

Emulating a robotic manipulator arm with an hybrid motion-control system

International Nuclear Information System (INIS)

Aragón-González, G; León-Galicia, A; Noriega-Hernández, M; Salazar-Hueta, A

2015-01-01

A motion control system with four and 1/2 degrees of freedom, designed to move small objects within a 0.25 m3 space, parallel to a horizontal table, with high speed and performance similar to a robotic manipulator arm was built. The machine employs several actuators and control devices. Its main characteristic is to incorporate a servomotor, steeper motors, electromechanical and fluid power actuators and diverse control resources. A group of actuators arranged on a spherical coordinates system is attached to the servomotor platform. A linear pneumatic actuator with an angular grip provides the radial extension and load clamping capacity. Seven inductive proximity sensors and one encoder provide feedback, for operating the actuators under closed loop conditions. Communication between the sensors and control devices is organized by a PLC. A touch screen allows governing the system remotely, easily and interactively, without knowing the specific programming language of each control component. The graphic environment on the touch screen guides the user to design and store control programs, establishing coordinated automatic routines for moving objects in space, simulation and implementation of industrial positioning or machining processes

Monitoring and Controlling an Underwater Robotic Arm

Science.gov (United States)

Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

2009-01-01

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

CONTROL SYSTEM FOR UNMANNED AIRCRAFT EQUIPPED WITH ROBOTICS ARM

Directory of Open Access Journals (Sweden)

Alexei A. Margun

2014-11-01

Full Text Available The paper deals with the problem of control system synthesis for multi rotational UAV equipped with robotics arm. Control algorithm is proposed based on the method of feedback linearization and synthesis of proportional-differential controller with the real time computation of the inertia tensor and center of mass changes and compensation of the reactive torque generated by the dynamics of the manipulator. Quadrocopter with attached articulated manipulator is selected as a model of the control object. Systems of equations describing the behavior of considered dynamical system are obtained according to the Newton and Euler-Lagrange laws. Expressions are offered, defining the inertia tensor and the position of the system center of mass depending on the current position of the manipulator, and the torque acting on the quadrocopter from the manipulator. Feedback linearization with arm influence compensation on quadrocopter is applied for the resulting nonlinear coupled system. As a result, robot dynamics equations have been converted to a linear stationary system. Converted system control is achieved by a proportional-differential controller. Examined system simulation is done with control method described in the paper and the classical method based on a proportional-differential controller. Simulation results confirm the effectiveness of the proposed approach and demonstrate that the proposed approach provides higher accuracy of the tracking error, than control method by means of proportional-differential regulator.

Kinematics study and workspace analysis of an articulated robotic arm of a rpar

International Nuclear Information System (INIS)

Zeb, J.; Rashid, F.; Iqbal, N.

2007-01-01

An itinerant RPAR (Radiation Protection Assistant Robot) has been constructed to assist radiation workers in radiation area which are radiologically hazardous and beyond tile safe approach of radiation workers. The RPAR comprises of a cubicle tri- wheeled platform and a 4-DOF (Four Degree of Freedom) serial type articulated robotic arm. The movement of the platform is controlled by two differential wheeled driving systems. The Kinematics and Manipulator Jacobian of the end-effector (gripper) of the articulated robotic arm mounted on the RPAR were evaluated. The work space analyses of the articulated robotic arm have been carried out. The RPAR is helpful for surveillance of radiation zones, to pick and carry dropdown radioactive samples and sources, in routine radiological operations as well as during an emergency response to a radiological accident. The performance of the RPAR was found satisfactory. (author)

The Microsoft Visual Studio Software Development For 5 DOF Nuclear Malaysia Robot Arm V2 Control System

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Azraf Azman; Mohd Rizal Mamat; Mohd Arif Hamzah

2014-01-01

This paper presents the Microsoft visual studio development for 5DOF Nuclear Malaysia Robot Arm V2 control system. The kinematics analysis is the study of the relationship between the individual joints of robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using Microsoft visual studio to solve the robot arms kinematic behavior. (author)

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

Full Text Available A mathematical model to describe the dynamics of manipulator robots. Mathematical model are the implementation of the method based on the Lagrange equation and using the transformation matrices of elastic coordinates. Mathematical model make it possible to determine the elastic deviations of manipulator robots from programmed motion trajectories caused by elastic deformations in hinges, which are taken into account in directions of change of the corresponding generalized coordinates. Mathematical model is approximated and makes it possible to determine small elastic quasi-static deviations and elastic vibrations. The results of modeling the dynamics by model are compared to the example of a two-link manipulator system. The considered model can be used when performing investigations of the mathematical accuracy of the manipulator robots.

Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

Science.gov (United States)

Klein, C. A.; Patterson, M. R.

1982-01-01

Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

Position Control Method For Pick And Place Robot Arm For Object Sorting System

Directory of Open Access Journals (Sweden)

Khin Moe Myint

2015-08-01

Full Text Available The more increase the number of industries in developing countries the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method the input parameters are the joint angles and link length of robot arm and then the output is the position at XYZ coordinate of tool or gripper. In inverse kinematic the input parameters are position at XYZ coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame without consideration of the forces or the moments causing the movements. For sorting system Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

The Development of Control System Design for 5 DOF Nuclear Malaysia Robot Arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2011-01-01

This paper describes a general design and implementation approach used for programming and controlling robotic systems such as remotely operated robotic manipulator systems. A hierarchical approach to control system design is adopted. The hierarchical design is translated into a component-based software design. A low-cost robotic arm and controller system is presented. The controller is a modular model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. The system takes advantage of the low cost and wide availability of control components and uses a low-cost, easy-to-program microprocessor. Furthermore, it presents the design and the construction of electronic systems for the control of an articulated robot developed for research and development related with instrumentation and control. The system is simple but it is designed the motor to move the robot arm to proper angular position according to the input controller. Limitations of the micro controller are discussed, and suggestions for further development of the robot arm and control are made. (author)

Autonomous path planning solution for industrial robot manipulator using backpropagation algorithm

Directory of Open Access Journals (Sweden)

PeiJiang Yuan

2015-12-01

Full Text Available Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.

Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

Science.gov (United States)

Lew, Jae Young; Book, Wayne J.

1991-01-01

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Variable geometry truss manipulators: A new type of robot for site inspection and remediation

International Nuclear Information System (INIS)

Naccarato, F.

1996-01-01

A new type of robotic manipulator has been developed that offers many potential advantages over conventional robot arms for site inspection and remediation. This new robot is based on the variable geometry truss manipulator (VGTM) concept which combines the structural properties of a truss with the dexterous capabilities of a manipulator. By substituting linear actuators for some of the fixed-length members within a truss, the structure can be made to change its overall shape. By coordinating the motion of these actuators appropriately, a VGTM can perform tasks that are relevant to hazardous waste clean-up, including deployment through curved ducts, probing into crevices and obstacle avoidance. Trussarm trademark, a prototype VGTM with twelve degrees-of-freedom, has been constructed by Dynacon Enterprises Limited

Dismantling of JPDR reactor internals by underwater plasma arc cutting technique using robotic manipulator

International Nuclear Information System (INIS)

Yokota, M.

1988-01-01

The actual dismantling of JPDR started on December 4, 1986. As of now, equipment that surrounds the reactor has mostly been removed to provide working space in reactor containment prior to the dismantling of reactor internals. Some reactor internals have been successfully dismantled using the underwater arc cutting system with a robotic manipulator during the period of January to March 1988. The cutting system is composed of an underwater plasma arc cutting device and a robotic manipulator. The cut off reactor internals were core spray block, feedwater sparger and stabilizers for fuel upper grid tube. The plasma arc cutting device was developed to dismantle the reactor internals underwater. It mainly consists of a plasma torch, power and gas supply systems for the torch, and by-product treatment systems. It has the cutting ability of 130 mm thickness stainless steel underwater. The robotic manipulator has seven degrees of freedom of movement, enabling it to move in almost the same way as the arm of a human being. The arm of the robot is mounted on a supporting device which is suspended by three chains from the support structure set on a service floor. A plasma torch is griped by the robotic hand; its position to the structure to be cut is controlled from a remote control room, about 100 meters outside the reactor containment

Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

Directory of Open Access Journals (Sweden)

Ismail Ben Abdallah

2016-01-01

Full Text Available Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case or trajectory generation based on feedback sensors (active robots case. However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE, a developed human-machine-interface (HMI allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.

Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization

Science.gov (United States)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2018-05-01

Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.

Inverse dynamic analysis of general n-link robot manipulators

International Nuclear Information System (INIS)

Yih, T.C.; Wang, T.Y.; Burks, B.L.; Babcock, S.M.

1996-01-01

In this paper, a generalized matrix approach is derived to analyze the dynamic forces and moments (torques) required by the joint actuators. This method is general enough to solve the problems of any n-link open-chain robot manipulators with joint combinations of R(revolute), P(prismatic), and S(spherical). On the other hand, the proposed matrix solution is applicable to both nonredundant and redundant robotic systems. The matrix notation is formulated based on the Newton-Euler equations under the condition of quasi-static equilibrium. The 4 x 4 homogeneous cylindrical coordinates-Bryant angles (C-B) notation is applied to model the robotic systems. Displacements, velocities, and accelerations of each joint and link center of gravity (CG) are calculated through kinematic analysis. The resultant external forces and moments exerted on the CG of each link are considered as known inputs. Subsequently, a 6n x 6n displacement coefficient matrix and a 6n x 1 external force/moment vector can be established. At last, the joint forces and moments needed for the joint actuators to control the robotic system are determined through matrix inversion. Numerical examples will be illustrated for the nonredundant industrial robots: Bendix AA/CNC (RRP/RRR) and Unimate 2000 spherical (SP/RRR) robots; and the redundant light duty utility arm (LDUA), modified LDUA, and tank waste retrieval manipulator system

Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM

OpenAIRE

Abdolmalaki, Reza Yazdanpanah

2017-01-01

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H parameters and creating Transformation Matrices,MATLAB programming is used to represent their worksp...

Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

Science.gov (United States)

Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

2018-02-01

We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

Full Text Available Abstrak Sistem robot manipulator ini merupakan mekanisme lengan yang terdiri dari serangkaian segmen yang digunakan untuk menangkap dan memindahkan benda dengan beberapa derajat kebebasan. Dalam perkembangannya, robot manipulator telah digunakan dalam melaksanakan misi tertentu dan membantu operasi di ruang angkasa. Robot biasanya berinteraksi dengan sistem tangan, dan dalam kegiatan industri tangan biasanya disebut sebagai gripper. Penulis menggunakan metode simulasi teknik yang dapat menentukan sistem gerak kinematika robot. Simulasi teknik adalah metode yang digunakan untuk mendesain dan menganalisa gerakan robot dimana hasil dari respon gerakan robot yang didapat mendekati hasil dalam keadaan sebenarnya. Simulasi juga dapat menghemat waktu dan biaya yang digunakan dalam mendesain robot gripper manipulator lima jari dengan elemen prismatik. Dengan menggunakan kontrol PID diharapkan respon gerak kinematik dari setiap joint robot manipulator mencapai perfomance yang terbaik seperti overshoot yang kecil, dan kondisi tenang (steady state dalam waktu yang singkat disertai dengan keselahan penggerak yang kecil. Melalui proses Advance tuning pada PID kontrol selesai didapatkan parameter penguat pada PID kontrol yaitu Kp = 0.7194, Ki = 8.306 dan Kd = 0.0061sehingga tercapai performance gerakan kinematika robot gripper manipulator yang terbaik sesuai yang dikehendaki oleh user dengan rise time yang singkat 0.52 detik, waktu puncak yang singkat 0.52 detik, maksimum overshoot yang kecil 1,8%, kesetebailan response dicapai pada 0.76 detik dan kesalahan penggerak yang sangat kecil 0.32%. Kata kunci: Robot gripper manipulator, PID control, gerakan kinematika Abstract A robot gripper manipulator system mechanism comprising a series of segments that are used to capture and move objects with multiple degrees of freedom. In the process, the robot manipulator has been used in carrying out the specific mission and assist operations in space. Robot manipulator

Robots testing robots: ALAN-Arm, a humanoid arm for the testing of robotic rehabilitation systems.

Science.gov (United States)

Brookes, Jack; Kuznecovs, Maksims; Kanakis, Menelaos; Grigals, Arturs; Narvidas, Mazvydas; Gallagher, Justin; Levesley, Martin

2017-07-01

Robotics is increasing in popularity as a method of providing rich, personalized and cost-effective physiotherapy to individuals with some degree of upper limb paralysis, such as those who have suffered a stroke. These robotic rehabilitation systems are often high powered, and exoskeletal systems can attach to the person in a restrictive manner. Therefore, ensuring the mechanical safety of these devices before they come in contact with individuals is a priority. Additionally, rehabilitation systems may use novel sensor systems to measure current arm position. Used to capture and assess patient movements, these first need to be verified for accuracy by an external system. We present the ALAN-Arm, a humanoid robotic arm designed to be used for both accuracy benchmarking and safety testing of robotic rehabilitation systems. The system can be attached to a rehabilitation device and then replay generated or human movement trajectories, as well as autonomously play rehabilitation games or activities. Tests of the ALAN-Arm indicated it could recreate the path of a generated slow movement path with a maximum error of 14.2mm (mean = 5.8mm) and perform cyclic movements up to 0.6Hz with low gain (<1.5dB). Replaying human data trajectories showed the ability to largely preserve human movement characteristics with slightly higher path length and lower normalised jerk.

Integration of a Robotic Arm with the Surgical Assistant Workstation Software Framework

OpenAIRE

Young, J.; Elhawary, H.; Popovic, A.

2012-01-01

We have integrated the Philips Research robot arm with the Johns Hopkins University cisst library, an open-source platform for computerassisted surgical intervention. The development of a Matlab to C++ wrapper to abstract away servo-level details facilitates the rapid development of a component-based framework with “plug and play” features. This allows the user to easily exchange the robot with an alternative manipulator while maintaining the same overall functionality.

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

Micro manipulators to handle micro machines. ; Aiming at developing clever and deft robots. Micro machine wo handling surutameno micro manipulator. ; Kashikoku kiyo na robot kaihatsu wo mezashite

Energy Technology Data Exchange (ETDEWEB)

Fujie, M [Hitachi, Ltd., Tokyo (Japan)

1991-11-15

The current state of micro manipulators (MM) to control micro machines is described. No MM can be realized with the conventional robots of which finger positions and attitudes are controlled by information on angles of each articulate. To solve this problem, such a system using the conception called a master slave manipulator with complex structure is proposed, in which human ways of manipulation are coupled with master arms with simple structure and slave arms facilitating works via a computer. The MM requires a flexible articulate chaining mechanism when the considerations on smallness of the arm structure and chaining of the multiple actuators are taken. To control the relative positions and attitudes, development of the control algorithm is required, which can learn the command signals given to a large number of actuators to drive mechanisms with ultra high freedoms and the relationship among changes in the end effector movements, rotation and directions, and can perform works according to precise relative positioning of objects to be handled. 8 refs., 4 figs.

Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

Directory of Open Access Journals (Sweden)

Mohamed J. Bakari

2008-11-01

Full Text Available This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID and Proportional-Integral-Plus (PIP control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

Optimalisasi Ukuran Manipulabilitas Robot Stanford Menggunakan Metode Pseudo-inverse

OpenAIRE

admin, Gina Fahrina

2013-01-01

Robot is one of the most important element in the industrial world which has been growing very rapidly. Stanford robot arm is one of robot that use in industry, it has five degrees of freedom (DOF). Movement of the robot arm in his workspace called manipulability or manipulability measure. More the optimal manipulability measure manipulator, the more movement of the robotic arm will be more flexible in his workspace. The purpose of this research are to get knowledge and learn how to solve inv...

Traction-drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

International Nuclear Information System (INIS)

Kuban, D.P.; Williams, D.M.

1987-01-01

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. This paper summarizes the report of a study performed for NASA Langley Research Center. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at the Oak Ridge National Laboratory

Picking Robot Arm Trajectory Planning Method

Directory of Open Access Journals (Sweden)

Zhang Zhiyong

2014-01-01

Full Text Available The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the joint space, then follow these equations motion for the interpolation on the joint so that we can meet the movement requirements. Trajectory planning is decisive significance for accuracy and stability of controlling robot arm. The key issue that picking arm complete picking task will be come true by trajectory planning, namely, robot arm track the desired trajectory. which based on kinematics and statics picking analysis in a joint space according to the requirements of picking tasks, and obtain the position and orientation for picking robot arm, study and calculate the theory of trajectory parameters timely.

Impact Vibration Attenuation for a Flexible Robotic Manipulator through Transfer and Dissipation of Energy

Directory of Open Access Journals (Sweden)

Yushu Bian

2013-01-01

Full Text Available Due to the presence of system flexibility, impact can excite severe large amplitude vibration responses of the flexible robotic manipulator. This impact vibration exhibits characteristics of remarkable nonlinearity and strong energy. The main goal of this study is to put forward an energy-based control method to absorb and attenuate large amplitude impact vibration of the flexible robotic manipulator. The method takes advantage of internal resonance and is implemented through a vibration absorber based on the transfer and dissipation of energy. The addition of the vibration absorber to the flexible arm generates a coupling effect between vibration modes of the system. By means of analysis on 2:1 internal resonance, the exchange of energy is proven to be existent. The impact vibrational energy can be transferred from the arm to the absorber and dissipated through the damping of the absorber. The results of numerical simulations are promising and preliminarily verify that the method is feasible and can be used to combat large amplitude impact vibration of the flexible manipulator undergoing rigid motion.

A study on optimal motion for a robot manipulator amid obstacles

International Nuclear Information System (INIS)

Park, Jong Keun

1997-01-01

Optimal motion for a robot manipulator is obtained by nonlinear programming. The objective of optimal motion is minimizing energy consumption of manipulator arm with fixed traveling time in the presence of obstacles. The geometric path is not predetermined. The total trajectory is described in terms of cubic B-spline polynomials and the coefficients of them are obtained to minimize a specific performance index. Obstacle avoidance is performed by the method that the square sum of penetration growth distances between every obstacles and robot links is included in the performance index with appropriate weighting coefficient. In all examples tested here, the solutions were converged to unique optimal trajectories from different initial ones. The optimal geometric path obtained in this research can be used in minimum time trajectory planning. (author)

A Velocity-Level Bi-Criteria Optimization Scheme for Coordinated Path Tracking of Dual Robot Manipulators Using Recurrent Neural Network.

Science.gov (United States)

Xiao, Lin; Zhang, Yongsheng; Liao, Bolin; Zhang, Zhijun; Ding, Lei; Jin, Long

2017-01-01

A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to realize the coordinated path tracking of dual robot manipulators, two subschemes are first presented for the left and right robot manipulators. After that, such two subschemes are reformulated as two general quadratic programs (QPs), which can be formulated as one unified QP. A recurrent neural network (RNN) is thus presented to solve effectively the unified QP problem. At last, computer simulation results based on a dual three-link planar manipulator further validate the feasibility and the efficacy of the velocity-level optimization scheme for coordinated path tracking using the recurrent neural network.

The application of manipulator robot for nuclear plant maintenance

International Nuclear Information System (INIS)

Kohata, Yukifumi; Fujita, Jun; Onishi, Ken; Tsuhari, Hiroyuki; Hosoe, Fumihiro

2010-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. Various robots are needed because there is various maintenance works. This is inefficiency. As the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. We achieved efficiency improvement and the reliability improvement by developing a high generality manipulator. (author)

Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

Directory of Open Access Journals (Sweden)

Tianliang Liu

2016-05-01

Full Text Available When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

A design of speed reducer with trapezoidal tooth profile for robot manipulator

Energy Technology Data Exchange (ETDEWEB)

Nam, Won Ki; Oh, Se Hoon [Chung-Ang University, Seoul (Korea, Republic of)

2011-01-15

Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study.

A design of speed reducer with trapezoidal tooth profile for robot manipulator

International Nuclear Information System (INIS)

Nam, Won Ki; Oh, Se Hoon

2011-01-01

Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

Mobile Robot and Mobile Manipulator Research Towards ASTM Standards Development.

Science.gov (United States)

Bostelman, Roger; Hong, Tsai; Legowik, Steven

2016-01-01

Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.

Design of a biomimetic robotic octopus arm.

Science.gov (United States)

Laschi, C; Mazzolai, B; Mattoli, V; Cianchetti, M; Dario, P

2009-03-01

This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

Design of a biomimetic robotic octopus arm

Energy Technology Data Exchange (ETDEWEB)

Laschi, C; Cianchetti, M [Advanced Robotics Technology and Systems Laboratory, Scuola Superiore Sant' Anna, Pisa (Italy); Mazzolai, B; Dario, P [Italian Institute of Technology, Genova (Italy); Mattoli, V [Centre of Research in Microengineering Laboratory, Scuola Superiore Sant' Anna, Pisa (Italy)], E-mail: cecilia.laschi@sssup.it

2009-03-01

This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

Design of a biomimetic robotic octopus arm

International Nuclear Information System (INIS)

Laschi, C; Cianchetti, M; Mazzolai, B; Dario, P; Mattoli, V

2009-01-01

This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups

Neurosurgical robotic arm drilling navigation system.

Science.gov (United States)

Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

2017-09-01

The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

Lazy motion planning for robotic manipulators

NARCIS (Netherlands)

Andrien, A.R.P.; van de Molengraft, M.J.G.; Bruyninckx, H.P.J.

2017-01-01

Robotic manipulators are making a shift towards mobile bases in both industry and domestic environments, which puts high demands on efficient use of the robot’s limited energy resources. In this work, the problem of reducing energy usage of a robot manipulator during a task is investigated. We

The application of manipulator robot for nuclear power plant maintenance

International Nuclear Information System (INIS)

Fujita, Jun; Onishi, Ken

2009-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. In light of manufacture period, cost and reliability, various maintenance works are requested to be done by one robot. As one of the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. The manipulator technologies in this study are able to apply to robotization needed under radiation environment. (author)

Stress analysis for robot arm version 2

International Nuclear Information System (INIS)

Anwar Abdul Rahman; Fikri, A.; Salleh, M. S.; Mohd Arif Hamzah; Azraf Azman; Rosli Darmawan; Mohd Rizal Mamat

2010-01-01

The design of a robot needs to be analyzed to ensure the specification and requirement by the user is full filled. Therefore, stress analysis has been performed on the robot arm version 2 after its complete fabrication. This paper discusses the result of the analysis and proposed measures to improve the future design of robot arm. (author)

Biologically inspired control of humanoid robot arms robust and adaptive approaches

CERN Document Server

Spiers, Adam; Herrmann, Guido

2016-01-01

This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniqu...

Dynamic parameter identification of robot arms with servo-controlled electrical motors

Science.gov (United States)

Jiang, Zhao-Hui; Senda, Hiroshi

2005-12-01

This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

Automation and use of robotic arm for development and routine production of radiopharmaceuticals

International Nuclear Information System (INIS)

Salvadori, P.A.; Di Sacco, S.; Riva, A.; Fusani, L.

1993-01-01

The target of a radiopharmaceutical group is twofold: production of radiotracers for clinical use (routine) and development of new compounds. The level of activity to be handled selects the strategy to be used for radiocompounds handling, ranging from direct manipulation during basic development at microcurie level to sophisticated equipments such as automated black-boxes and robotic arms at curie level. The authors looked for a common solution, to both the management of routine productions and the problems arising during activity scaling up in new tracer development, by choosing a robotic arm integrated by a variety of specialized automatic devices able to perform actions which are difficult (too slow, too precise, too complicated, etc.,) to be made by the robot. The final solution from this approach is a open-quotes synthetic stationclose quotes with flexible architecture which can be used for different applications without harware modification/adaptation

A motion sensing-based framework for robotic manipulation.

Science.gov (United States)

Deng, Hao; Xia, Zeyang; Weng, Shaokui; Gan, Yangzhou; Fang, Peng; Xiong, Jing

2016-01-01

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

On Virtual Integrated Model of a 6DoF Manipulator Arm for Emergency Cases Interventions

Directory of Open Access Journals (Sweden)

Gigi Naidin

2011-09-01

Full Text Available This research deals with a virtual integrated model for a 6DoF manipulator arm dedicated to use for emergency situations intervention. The virtual model can simulates both the entire structural and mechanical configuration of the manipulator, and the driving system with automated command unit. The basic idea supposes to develop a complex simulator for kinematical and dynamic behavior analysis of 6DoF robot manipulator, and for facilely cross correlation and comparative evaluation between essential parameters and extremely bearing cases defining the manipulator working state. The analysis was developed in Matlab© - SimScape© software. The conclusions dignify the main functional capability of the manipulator supposing the capacity of driving system and mechanical structure.

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Research on the man in the loop control system of the robot arm based on gesture control

Science.gov (United States)

Xiao, Lifeng; Peng, Jinbao

2017-03-01

The Man in the loop control system of the robot arm based on gesture control research complex real-world environment, which requires the operator to continuously control and adjust the remote manipulator, as the background, completes the specific mission human in the loop entire system as the research object. This paper puts forward a kind of robot arm control system of Man in the loop based on gesture control, by robot arm control system based on gesture control and Virtual reality scene feedback to enhance immersion and integration of operator, to make operator really become a part of the whole control loop. This paper expounds how to construct a man in the loop control system of the robot arm based on gesture control. The system is a complex system of human computer cooperative control, but also people in the loop control problem areas. The new system solves the problems that the traditional method has no immersion feeling and the operation lever is unnatural, the adjustment time is long, and the data glove mode wears uncomfortable and the price is expensive.

The preliminary of software development for the kinematics analysis of 5 DOF Nuclear Malaysia robot arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2010-01-01

This paper presents the preliminary software development for the kinematics analysis of 5 DOF rescue robot. The kinematics analysis is the study of relationship between the individual joints of the robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using MATLAB to solve the robot arms kinematic behavior. (author)

Pick-up, transport and release of a molecular cargo using a small-molecule robotic arm

Science.gov (United States)

Kassem, Salma; Lee, Alan T. L.; Leigh, David A.; Markevicius, Augustinas; Solà, Jordi

2016-02-01

Modern-day factory assembly lines often feature robots that pick up, reposition and connect components in a programmed manner. The idea of manipulating molecular fragments in a similar way has to date only been explored using biological building blocks (specifically DNA). Here, we report on a wholly artificial small-molecule robotic arm capable of selectively transporting a molecular cargo in either direction between two spatially distinct, chemically similar, sites on a molecular platform. The arm picks up/releases a 3-mercaptopropanehydrazide cargo by formation/breakage of a disulfide bond, while dynamic hydrazone chemistry controls the cargo binding to the platform. Transport is controlled by selectively inducing conformational and configurational changes within an embedded hydrazone rotary switch that steers the robotic arm. In a three-stage operation, 79-85% of 3-mercaptopropanehydrazide molecules are transported in either (chosen) direction between the two platform sites, without the cargo at any time fully dissociating from the machine nor exchanging with other molecules in the bulk.

Robotically facilitated virtual rehabilitation of arm transport integrated with finger movement in persons with hemiparesis

OpenAIRE

Davidow Amy; Lafond Ian; Saleh Soha; Qiu Qinyin; Fluet Gerard G; Merians Alma S; Adamovich Sergei V

2011-01-01

Abstract Background Recovery of upper extremity function is particularly recalcitrant to successful rehabilitation. Robotic-assisted arm training devices integrated with virtual targets or complex virtual reality gaming simulations are being developed to deal with this problem. Neural control mechanisms indicate that reaching and hand-object manipulation are interdependent, suggesting that training on tasks requiring coordinated effort of both the upper arm and hand may be a more effective me...

An Integrated Framework for Human-Robot Collaborative Manipulation.

Science.gov (United States)

Sheng, Weihua; Thobbi, Anand; Gu, Ye

2015-10-01

This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

Two-Armed, Mobile, Sensate Research Robot

Science.gov (United States)

Engelberger, J. F.; Roberts, W. Nelson; Ryan, David J.; Silverthorne, Andrew

2004-01-01

The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and

A Non-linear Model for Predicting Tip Position of a Pliable Robot Arm Segment Using Bending Sensor Data

Directory of Open Access Journals (Sweden)

Elizabeth I. SKLAR

2016-04-01

Full Text Available Using pliable materials for the construction of robot bodies presents new and interesting challenges for the robotics community. Within the EU project entitled STIFFness controllable Flexible & Learnable manipulator for surgical Operations (STIFF-FLOP, a bendable, segmented robot arm has been developed. The exterior of the arm is composed of a soft material (silicone, encasing an internal structure that contains air-chamber actuators and a variety of sensors for monitoring applied force, position and shape of the arm as it bends. Due to the physical characteristics of the arm, a proper model of robot kinematics and dynamics is difficult to infer from the sensor data. Here we propose a non-linear approach to predicting the robot arm posture, by training a feed-forward neural network with a structured series of pressures values applied to the arm's actuators. The model is developed across a set of seven different experiments. Because the STIFF-FLOP arm is intended for use in surgical procedures, traditional methods for position estimation (based on visual information or electromagnetic tracking will not be possible to implement. Thus the ability to estimate pose based on data from a custom fiber-optic bending sensor and accompanying model is a valuable contribution. Results are presented which demonstrate the utility of our non-linear modelling approach across a range of data collection procedures.

Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters

International Nuclear Information System (INIS)

Benitez R, J.S.; Najera H, M.C.

2002-01-01

The development of a system based in a manipulative robot which simulates the operative sequence in a calibration process of dosemeters is presented. In this process it is performed the monitoring of the dosemeter positions and the calibrator by mean of an arm of articulated robot which develops the movement sequences and the taking a decision based on the information coming from the external sensors. (Author)

Robotic vision system for random bin picking with dual-arm robots

Directory of Open Access Journals (Sweden)

Kang Sangseung

2016-01-01

Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

Arm reduced robotic-assisted laparoscopic hysterectomy with transvaginal cuff closure.

Science.gov (United States)

Bodur, Serkan; Dede, Murat; Fidan, Ulas; Firatligil, Burcin F; Ulubay, Mustafa; Ozturk, Mustafa; Yenen, Mufit C

2017-09-01

The use of robotics for benign etiology in gynecology has not proven to be more beneficial when compared to traditional laparoscopy. The major concern regarding robotic hysterectomy stems from its high cost. To evaluate the clinical utility and effectiveness of one-arm reduced robotic-assisted laparoscopic hysterectomy as a cost-effective surgical option for total robotic hysterectomy. A sample population of 54 women who underwent robotic-assisted laparoscopic surgery for benign gynecologic indications was evaluated, and two groups were identified: (1) the two-armed robotic-assisted laparoscopic surgery group (n = 38 patients), and (2) the three-armed robotic-assisted laparoscopic surgery group (n = 16 patients). An increased cost was observed when three-armed robotic surgery was employed for benign gynecologic surgery (p < 0.001). The cost reduction observed in the study group was primarily derived from one robotic arm reduction and vaginal closure of the cuff. This cost reduction was achieved without an increase in complication rates or undesirable postoperative outcomes. An estimated profit between $399.5 and $421.5 was made for each patient depending on the suture material chosen for cuff closure. Two-armed surgery resulted in an 18.6% reduction in procedure-specific costs for robotic hysterectomy. Two-armed robotic-assisted laparoscopic hysterectomy appears to be a cost-effective solution for robotic gynecologic surgery. This surgical solution can be performed as effectively as classical three-armed robotic hysterectomies for benign indications without the risk of increased surgical-related morbidities. This approach has the potential to be a widely preferred surgical approach in medical communities where cost reduction is one of the primary determinants of surgery type.

Design and analysis on robotic arm for serving hazard container

Science.gov (United States)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Yi, Khoo Zern; Daud, Mohd Hisam

2017-09-01

This paper presents about design, analyses development and fabrication of robotic arm for sorting multi-material. The major problem that urges the initiation of the project is the fact that manufacturing industry is growing at relatively faster rate. Most of the company produce high load robotic arm. Less company creates light weight, and affordable robotic arm. As the result, light weight and affordable robot is developing to cover this issue. Plastic material was used to construct the body of the robotic arm, and an optical sensor was implemented to provide basic recognition of object to be carried. The robotic arm used five servomotors for overall operation; four for its joints, and one for the gripping mechanism. The gripper was designed and fabricated using Perspex due to the light weight and high strength of the material. The operation of the robotic arm was governed by Basic Stamp programming sequence and the device was expected to differentiate material and other objects based on reflective theory, and perform subsequent operations afterwards. The SolidWorks was used to model the detail design of the robotic arm, and to simulate the motion of the device.

Advanced Bimanual Manipulation Results from the DEXMART Project

CERN Document Server

2012-01-01

Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

Directory of Open Access Journals (Sweden)

Juan A. Corrales

2011-10-01

Full Text Available Autonomous manipulation in semi-structured environments where human operators can interact is an increasingly common task in robotic applications. This paper describes an intelligent multi-sensorial approach that solves this issue by providing a multi-robotic platform with a high degree of autonomy and the capability to perform complex tasks. The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object. The proposed controller employs the whole multi-sensorial system and combines the measurements of each one of the used sensors during two different phases considered in the robot task: a first phase where the robot approaches the object to be grasped, and a second phase of manipulation of the object. In both phases, the unexpected presence of humans is taken into account. This paper also presents the successful results obtained in several experimental setups which verify the validity of the proposed approach.

Experiments on co-operating robot arms

International Nuclear Information System (INIS)

Arthaya, B.; De Schutter, J.

1994-01-01

When two robots manipulate a common object or perform a single task together, a closed-kinematic chain is formed. If both robots are controlled under position control only, at a certain phase during the manipulation, the interaction forces may become unacceptably high. The interaction forces are caused by the kinematic as well as the dynamic errors in the robot position controller. In order to avoid this problem, a synchronized motion between both robots has to be generated, not only by controlling the position (velocity) of the two end-effectors, but also by controlling the interaction forces between them. In order to generate a synchronized motion, the first robot controller continuously modifies the task frame velocity corresponding to the velocity of the other robot. This implies that the velocity of the other robot is used as feed-forward information in order to anticipate its motion. This approach results in a better tracking behaviour

Robotic-Movement Payload Lifter and Manipulator

Science.gov (United States)

Doggett, William R. (Inventor); King, Bruce D. (Inventor); Collins, Timothy J. (Inventor); Dorsey, John T. (Inventor)

2011-01-01

A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

Whole-arm tactile sensing for beneficial and acceptable contact during robotic assistance.

Science.gov (United States)

Grice, Phillip M; Killpack, Marc D; Jain, Advait; Vaish, Sarvagya; Hawke, Jeffrey; Kemp, Charles C

2013-06-01

Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector to poses near the care-receiver's body. However, perceiving and maneuvering around the care-receiver's body can be challenging due to a variety of issues, including convoluted geometry, compliant materials, body motion, hidden surfaces, and the object upon which the body is resting (e.g., a wheelchair or bed). Using geometric simulations, we first show that an assistive robot can achieve a much larger percentage of end-effector poses near the care-receiver's body if its arm is allowed to make contact. Second, we present a novel system with a custom controller and whole-arm tactile sensor array that enables a Willow Garage PR2 to regulate contact forces across its entire arm while moving its end effector to a commanded pose. We then describe tests with two people with motor impairments, one of whom used the system to grasp and pull a blanket over himself and to grab a cloth and wipe his face, all while in bed at his home. Finally, we describe a study with eight able-bodied users in which they used the system to place objects near their bodies. On average, users perceived the system to be safe and comfortable, even though substantial contact occurred between the robot's arm and the user's body.

Optimization on robot arm machining by using genetic algorithms

Science.gov (United States)

Liu, Tung-Kuan; Chen, Chiu-Hung; Tsai, Shang-En

2007-12-01

In this study, an optimization problem on the robot arm machining is formulated and solved by using genetic algorithms (GAs). The proposed approach adopts direct kinematics model and utilizes GA's global search ability to find the optimum solution. The direct kinematics equations of the robot arm are formulated and can be used to compute the end-effector coordinates. Based on these, the objective of optimum machining along a set of points can be evolutionarily evaluated with the distance between machining points and end-effector positions. Besides, a 3D CAD application, CATIA, is used to build up the 3D models of the robot arm, work-pieces and their components. A simulated experiment in CATIA is used to verify the computation results first and a practical control on the robot arm through the RS232 port is also performed. From the results, this approach is proved to be robust and can be suitable for most machining needs when robot arms are adopted as the machining tools.

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation.

Science.gov (United States)

Low, Jin-Huat; Yeow, Chen-Hua

2016-08-02

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

Repetitive motion planning and control of redundant robot manipulators

CERN Document Server

Zhang, Yunong

2013-01-01

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

Directory of Open Access Journals (Sweden)

Max Schwarz

2016-10-01

Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

Visual servo simulation of EAST articulated maintenance arm robot

Energy Technology Data Exchange (ETDEWEB)

Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

2016-03-15

For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

Visual servo simulation of EAST articulated maintenance arm robot

International Nuclear Information System (INIS)

Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

2016-01-01

For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

Introducing autonomy to robotic manipulators in the nuclear industry

International Nuclear Information System (INIS)

Boddy, C.L.; Webster, A.W.

1991-01-01

The National Advanced Robotics Research Centre was set up in 1988 to provide a forum for the development and transfer to industry of the technology of Advanced Robotics. In the area of robot manipulators, research has been carried out into increasing the low-level autonomy of such devices e.g. reactive collision avoidance, gross base disturbance rejection. This groundwork has proven the feasibility of using advanced control concepts in robotic manipulators, and, indeed, indicated new areas of robot kinematic design which can now be successfully exploited. Within the newly defined BNFL Integrated Robotics Programme a number of joint projects have been defined to demonstrate this technology in realistic environments, including the use of advanced interactive computer simulation and kinematically redundant manipulators. (author)

Controlling robot arm with the mind

National Science Foundation

2017-05-31

Full Text Available Research test subjects at the University of Minnesota who were fitted with a specialized noninvasive brain cap were able to move a robotic arm just by imagining moving their own arms.

Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

Directory of Open Access Journals (Sweden)

Hong Zeng

2017-10-01

Full Text Available Brain-machine interface (BMI can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback over the open-loop system (with visual inspection only have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes.

Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

Science.gov (United States)

Zeng, Hong; Wang, Yanxin; Wu, Changcheng; Song, Aiguo; Liu, Jia; Ji, Peng; Xu, Baoguo; Zhu, Lifeng; Li, Huijun; Wen, Pengcheng

2017-01-01

Brain-machine interface (BMI) can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR) guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG) signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback) over the open-loop system (with visual inspection only) have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes. PMID:29163123

Internet remote control interface for a multipurpose robotic arm

Directory of Open Access Journals (Sweden)

Matthew W. Dunnigan

2008-11-01

Full Text Available This paper presents an Internet remote control interface for a MITSUBISHI PA10-6CE manipulator established for the purpose of the ROBOT museum exhibition during spring and summer 2004. The robotic manipulator is a part of the Intelligent Robotic Systems Laboratory at Heriot ? Watt University, which has been established to work on dynamic and kinematic aspects of manipulator control in the presence of environmental disturbances. The laboratory has been enriched by a simple vision system consisting of three web-cameras to broadcast the live images of the robots over the Internet. The Interface comprises of the TCP/IP server providing command parsing and execution using the open controller architecture of the manipulator and a client Java applet web-site providing a simple robot control interface.

Modeling of Flexible Beams for Robotic Manipulators

International Nuclear Information System (INIS)

Martins, Jorge; Ayala Botto, Miguel; Costa, Jose sa da

2002-01-01

This work treats the problem of modeling robotic manipulators with structural flexibility. A mathematical model of a planar manipulator with a single flexible link is developed. This model is capable of reproducing nonlinear dynamic effects, such as the beam stiffening due to the centrifugal forces induced by the rotation of the joints, giving it the capability to predict reliable dynamic behaviors for a wide range of applications. On the other hand, the model complexity is reduced, in order to keep it amenable for analysis and controller design. The models found in current literature for control design of flexible manipulator arms present dynamic limitations for the sake of real time implementation in a control scheme. These limitations are the result of premature linearization in the formulation of the dynamics equations. In this paper, this common linearization is presented and their dynamic limitations uncovered. An alternative reliable model is then presented. The model is founded on two basic assumptions: inextensibility of the neutral fiber and moderate rotations of the cross sections in order to account for the foreshortening of the beam due to bending. Simulation and experimental results show that the proposed model has the closest dynamic behavior to the real beam

Development of an advanced robot manipulator system

International Nuclear Information System (INIS)

Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

1991-01-01

A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

Approaches to probabilistic model learning for mobile manipulation robots

CERN Document Server

Sturm, Jürgen

2013-01-01

Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB

OpenAIRE

Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

2013-01-01

The main objective of this study is how to quickly establish the virtual prototyping model of robot arm system and effectively solve trajectory tracking control for a given signal. Taking the 2-DOF robot arm as an example, a co-simulation control method is introduced to research multi-body dynamics. Using Newton-Euler and Lagrange method, respectively establish the dynamics model of robot arm and verify the correctness of equations. Firstly, the physical model of robot arm was built by PROE a...

Tracked Robot with Blade Arms to Enhance Crawling Capability

OpenAIRE

Jhu-Wei Ji; Fa-Shian Chang; Lih-Tyng Hwang; Chih-Feng Liu; Jeng-Nan Lee; Shun-Min Wang; Kai-Yi Cho

2016-01-01

This paper presents a tracked robot with blade arms powered to assist movement in difficult environments. As a result, the tracked robot is able to pass a ramp or climb stairs. The main feature is a pair of blade arms on both sides of the vehicle body working in collaboration with previously validated transformable track system. When the robot encounters an obstacle in a terrain, it enlists the blade arms with power to overcome the obstacle. In disaster areas, there usually will be terrains t...

Analysis of reaching movements of upper arm in robot assisted exercises. Kinematic assessment of robot assisted upper arm reaching single-joint movements.

Science.gov (United States)

Iuppariello, Luigi; D'Addio, Giovanni; Romano, Maria; Bifulco, Paolo; Lanzillo, Bernardo; Pappone, Nicola; Cesarelli, Mario

2016-01-01

Robot-mediated therapy (RMT) has been a very dynamic area of research in recent years. Robotics devices are in fact capable to quantify the performances of a rehabilitation task in treatments of several disorders of the arm and the shoulder of various central and peripheral etiology. Different systems for robot-aided neuro-rehabilitation are available for upper limb rehabilitation but the biomechanical parameters proposed until today, to evaluate the quality of the movement, are related to the specific robot used and to the type of exercise performed. Besides, none study indicated a standardized quantitative evaluation of robot assisted upper arm reaching movements, so the RMT is still far to be considered a standardised tool. In this paper a quantitative kinematic assessment of robot assisted upper arm reaching movements, considering also the effect of gravity on the quality of the movements, is proposed. We studied a group of 10 healthy subjects and results indicate that our advised protocol can be useful for characterising normal pattern in reaching movements.

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

Science.gov (United States)

Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

2015-01-01

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

On-line trajectory planning of time-jerk optimal for robotic arms

Directory of Open Access Journals (Sweden)

Nadir Bendali

2016-09-01

Full Text Available A method based on the computation of the time intervals of the knots for time-jerk optimal planning under kinematic constraints of robot manipulators in predefined operations is described in this paper. In order to ensure that the resulting trajectory is smooth enough, a cost function containing a term proportional to the integral of the squared jerk (defined as the derivative of the acceleration along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the cost function. A Cubic Spline functions are then used to compose overall trajectory. This method can meet the requirements of a short execution time and low arm vibration of the manipulator and the simulation provides good results.

Introduction to autonomous manipulation case study with an underwater robot, SAUVIM

CERN Document Server

Marani, Giacomo

2014-01-01

“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environment...

The MVACS Robotic Arm Camera

Science.gov (United States)

Keller, H. U.; Hartwig, H.; Kramm, R.; Koschny, D.; Markiewicz, W. J.; Thomas, N.; Fernades, M.; Smith, P. H.; Reynolds, R.; Lemmon, M. T.; Weinberg, J.; Marcialis, R.; Tanner, R.; Boss, B. J.; Oquest, C.; Paige, D. A.

2001-08-01

The Robotic Arm Camera (RAC) is one of the key instruments newly developed for the Mars Volatiles and Climate Surveyor payload of the Mars Polar Lander. This lightweight instrument employs a front lens with variable focus range and takes images at distances from 11 mm (image scale 1:1) to infinity. Color images with a resolution of better than 50 μm can be obtained to characterize the Martian soil. Spectral information of nearby objects is retrieved through illumination with blue, green, and red lamp sets. The design and performance of the camera are described in relation to the science objectives and operation. The RAC uses the same CCD detector array as the Surface Stereo Imager and shares the readout electronics with this camera. The RAC is mounted at the wrist of the Robotic Arm and can characterize the contents of the scoop, the samples of soil fed to the Thermal Evolved Gas Analyzer, the Martian surface in the vicinity of the lander, and the interior of trenches dug out by the Robotic Arm. It can also be used to take panoramic images and to retrieve stereo information with an effective baseline surpassing that of the Surface Stereo Imager by about a factor of 3.

Transferring human impedance regulation skills to robots

CERN Document Server

Ajoudani, Arash

2016-01-01

This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.

Hand/Eye Coordination For Fine Robotic Motion

Science.gov (United States)

Lokshin, Anatole M.

1992-01-01

Fine motions of robotic manipulator controlled with help of visual feedback by new method reducing position errors by order of magnitude. Robotic vision subsystem includes five cameras: three stationary ones providing wide-angle views of workspace and two mounted on wrist of auxiliary robot arm. Stereoscopic cameras on arm give close-up views of object and end effector. Cameras measure errors between commanded and actual positions and/or provide data for mapping between visual and manipulator-joint-angle coordinates.

Visual Recognition and Its Application to Robot Arm Control

Directory of Open Access Journals (Sweden)

Jih-Gau Juang

2015-10-01

Full Text Available This paper presents an application of optical word recognition and fuzzy control to a smartphone automatic test system. The system consists of a robot arm and two webcams. After the words from the control panel that represent commands are recognized by the robot system, the robot arm performs the corresponding actions to test the smartphone. One of the webcams is utilized to capture commands on the screen of the control panel, the other to recognize the words on the screen of the tested smartphone. The method of image processing is based on the Red-Green-Blue (RGB and Hue-Saturation-Luminance (HSL color spaces to reduce the influence of light. Fuzzy theory is used in the robot arm’s position control. The Optical Character Recognition (OCR technique is applied to the word recognition, and the recognition results are then checked by a dictionary process to increase the recognition accuracy. The camera which is used to recognize the tested smartphone also provides object coordinates to the fuzzy controller, then the robot arm moves to the desired positions and presses the desired buttons. The proposed control scheme allows the robot arm to perform different assigned test functions successfully.

Machine Learnig for Robotic Manipulation in cluttered environments

OpenAIRE

Alet Puig, Ferran

2016-01-01

In this thesis we focus on designing the planner for MIT s entry in the Amazon Picking Challenge, a robotic competition aiming at pushing the frontiers of manipulation until robots can substitute human pickers in warehouses. Given a set of manipulation primitives (such as grasping, suction, scooping, placing or pushing) we designed a system capable of learning a planner from a set of manipulation experiments. After learning, given any configuration of objects, the planner can come up with the...

Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

Directory of Open Access Journals (Sweden)

Changan Jiang

2016-01-01

Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

Integrated multi-sensory control of space robot hand

Science.gov (United States)

Bejczy, A. K.; Kan, E. P.; Killion, R. R.

1985-01-01

Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).

IMU-based online kinematic calibration of robot manipulator.

Science.gov (United States)

Du, Guanglong; Zhang, Ping

2013-01-01

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

IMU-Based Online Kinematic Calibration of Robot Manipulator

Directory of Open Access Journals (Sweden)

Guanglong Du

2013-01-01

Full Text Available Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA and Kalman Filter (KF to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

Physics Based Vision Systems for Robotic Manipulation

Data.gov (United States)

National Aeronautics and Space Administration — With the increase of robotic manipulation tasks (TA4.3), specifically dexterous manipulation tasks (TA4.3.2), more advanced computer vision algorithms will be...

Human-Like Behavior of Robot Arms: General Considerations and the Handwriting Task-Part I: Mathematical Description of Human-Like Motion: Distributed Positioning and Virtual Fatigue

NARCIS (Netherlands)

Potkonjak, V.; Tzafestas, S.; Kostic, D.; Djordjevic, G.

2001-01-01

This two-part paper is concerned with the analysis and achievement of human-like behavior by robot arms (manipulators). The analysis involves three issues: (i) the resolution of the inverse kinematics problem of redundant robots, (ii) the separation of the end-effector's motion into two components,

A 3D steady-state model of a tendon-driven continuum soft manipulator inspired by the octopus arm

International Nuclear Information System (INIS)

Renda, F; Cianchetti, M; Giorelli, M; Arienti, A; Laschi, C

2012-01-01

Control and modelling of continuum robots are challenging tasks for robotic researchers. Most works on modelling are limited to piecewise constant curvature. In many cases they neglect to model the actuators or avoid a continuum approach. In particular, in the latter case this leads to a complex model hardly implemented. In this work, a geometrically exact steady-state model of a tendon-driven manipulator inspired by the octopus arm is presented. It takes a continuum approach, fast enough to be implemented in the control law, and includes a model of the actuation system. The model was experimentally validated and the results are reported. In conclusion, the model presented can be used as a tool for mechanical design of continuum tendon-driven manipulators, for planning control strategies or as internal model in an embedded system. (paper)

Task-space sensory feedback control of robot manipulators

CERN Document Server

Cheah, Chien Chern

2015-01-01

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...

Manipulator arm for a nuclear reactor vessel inspection device

International Nuclear Information System (INIS)

1980-01-01

A manipulator arm for a reactor vessel in-service inspection apparatus is adapted to transport a transducer array for ultrasonic examination of welds at any point in the vessel. The removal of the inspection device from the reactor vessel in an emergency presents a problem where a relatively long manipulator arm is used. This invention provides an improved arm with means for changing the normal orientation of the arm to a shorter one to permit safe removal of the inspection device from the reactor vessel. (author)

Euler-Lagrange modeling for a seven degree of freedom Manipulator

NARCIS (Netherlands)

Muñoz Arias, Mauricio; Scherpen, Jacquelien M.A.

2011-01-01

The Philips experimental robot arm is a kinematically redundant manipulator which is mainly aimed at increasing dexterity. The robot manipulator, developed by Philips Applied Technologies for domotic applications, has seven degrees of freedom and includes humanoid characteristics of a upper limb

Tension Stiffened and Tendon Actuated Manipulator

Science.gov (United States)

Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

2015-01-01

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Light Duty Utility Arm computer software configuration management plan

International Nuclear Information System (INIS)

Philipp, B.L.

1998-01-01

This plan describes the configuration management for the Light Duty Utility Arm robotic manipulation arm control software. It identifies the requirement, associated documents, and the software control methodology. The Light Duty Utility Ann (LDUA) System is a multi-axis robotic manipulator arm and deployment vehicle, used to perform surveillance and characterization operations in support of remediation of defense nuclear wastes currently stored in the Hanford Underground Storage Tanks (USTs) through the available 30.5 cm (12 in.) risers. This plan describes the configuration management of the LDUA software

EVALUATING CONTINUOUS-TIME SLAM USING A PREDEFINED TRAJECTORY PROVIDED BY A ROBOTIC ARM

Directory of Open Access Journals (Sweden)

B. Koch

2017-09-01

Full Text Available Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.

Evaluating Continuous-Time Slam Using a Predefined Trajectory Provided by a Robotic Arm

Science.gov (United States)

Koch, B.; Leblebici, R.; Martell, A.; Jörissen, S.; Schilling, K.; Nüchter, A.

2017-09-01

Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.

Kinematics analysis on hinges of robot arm gripper for harmful chemical handling

Science.gov (United States)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Mustafa, Nurul Fahimah; Daud, Mohd Hisam

2017-09-01

The development of manufacturing industry is booming the application of industrial robot, and proportional to the use of robot arm. Some of the purpose of robot arm gripper is to sort things and place to the proper place. And some of the things are harmful to human, such as harmful chemical. By using robot arm to do picking and placing, it is expected to replace human tasks, as well as to reduce human from the harmful job. The problem of the robot arm gripper, most likely the problem of hinge, thus the analysis on the hinges of robot arm gripper to prevent claw is essential. By using robot arm, instead of human, is labored to do the harmful tasks and unexpected accident happen, costs and expenses in handling injured employee due to the harmful chemicals can be minimized. Thus the objective of this project is to make a kinematics analysis on the hinges of the robot arm gripper. Suitable material such as steel structure has also been selected for the construction of this hinges. This material has properties associated with compressive strength, fire resistance, corrosion and has a shape that is easy to move. Solid Works and ANSYS software is used to create animated movement on the design model and to detect deficiencies in the hinges. Detail methodology is described in this paper.

Kinematic equations for resolved-rate control of an industrial robot arm

Science.gov (United States)

Barker, L. K.

1983-01-01

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Robotic neurorehabilitation system design for stroke patients

Directory of Open Access Journals (Sweden)

Baoguo Xu

2015-03-01

Full Text Available In this article, a neurorehabilitation system combining robot-aided rehabilitation with motor imagery–based brain–computer interface is presented. Feature extraction and classification algorithm for the motor imagery electroencephalography is implemented under our brain–computer interface research platform. The main hardware platform for functional recovery therapy is the Barrett Whole-Arm Manipulator. The mental imagination of upper limb movements is translated to trigger the Barrett Whole-Arm Manipulator Arm to stretch the affected upper limb to move along the predefined trajectory. A fuzzy proportional–derivative position controller is proposed to control the Whole-Arm Manipulator Arm to perform passive rehabilitation training effectively. A preliminary experiment aimed at testing the proposed system and gaining insight into the potential of motor imagery electroencephalography-triggered robotic therapy is reported.

Four Degree Freedom Robot Arm with Fuzzy Neural Network Control

Directory of Open Access Journals (Sweden)

Şinasi Arslan

2013-01-01

Full Text Available In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.

Electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength after stroke.

Science.gov (United States)

Mehrholz, Jan; Pohl, Marcus; Platz, Thomas; Kugler, Joachim; Elsner, Bernhard

2015-11-07

Electromechanical and robot-assisted arm training devices are used in rehabilitation, and may help to improve arm function after stroke. To assess the effectiveness of electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength in people after stroke. We also assessed the acceptability and safety of the therapy. We searched the Cochrane Stroke Group's Trials Register (last searched February 2015), the Cochrane Central Register of Controlled Trials (CENTRAL) (the Cochrane Library 2015, Issue 3), MEDLINE (1950 to March 2015), EMBASE (1980 to March 2015), CINAHL (1982 to March 2015), AMED (1985 to March 2015), SPORTDiscus (1949 to March 2015), PEDro (searched April 2015), Compendex (1972 to March 2015), and Inspec (1969 to March 2015). We also handsearched relevant conference proceedings, searched trials and research registers, checked reference lists, and contacted trialists, experts, and researchers in our field, as well as manufacturers of commercial devices. Randomised controlled trials comparing electromechanical and robot-assisted arm training for recovery of arm function with other rehabilitation or placebo interventions, or no treatment, for people after stroke. Two review authors independently selected trials for inclusion, assessed trial quality and risk of bias, and extracted data. We contacted trialists for additional information. We analysed the results as standardised mean differences (SMDs) for continuous variables and risk differences (RDs) for dichotomous variables. We included 34 trials (involving 1160 participants) in this update of our review. Electromechanical and robot-assisted arm training improved activities of daily living scores (SMD 0.37, 95% confidence interval (CI) 0.11 to 0.64, P = 0.005, I² = 62%), arm function (SMD 0.35, 95% CI 0.18 to 0.51, P arm muscle strength (SMD 0.36, 95% CI 0.01 to 0.70, P = 0.04, I² = 72%), but the quality of the evidence was low to very low

Optimization in the design and control of robotic manipulators: A survey

International Nuclear Information System (INIS)

Rao, S.S.; Bhatti, P.K.

1989-01-01

Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics

Robust coordinated control of a dual-arm space robot

Science.gov (United States)

Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

2017-09-01

Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

A Simple Solution for Programming of a Robotic Arm

Directory of Open Access Journals (Sweden)

Bogdan Laurean

2014-12-01

Full Text Available This paper presents a method to actuate, programming and control of a Robotic arm based on a monomobil telescopic planetary gear and a DC motor. Experimental model of robot was designed and manufactured at the Faculty of Engineering from Sibiu, (Patent no. 112418 CI6.B25J 18/02. The DC motor as actuator rotates a reel. The wires on the reel will produce a linear displacement of telescopic modules. The command of the DC motor is realized by a programmable logic controller. The outputs of the programmable logic controller are connected in a "H" bridge. The rotation of the reel in one direction or another has the effect of lengthening or shortening the robotic arm. The value of robotic arm length is monitored by an optical incremental encoder. The value of displacement will correspond to number of steps from an up/down counter.

Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

Science.gov (United States)

Yi, Seung-Jong

Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and

Reprogramming the articulated robotic arm for glass handling by using Arduino microcontroller

Science.gov (United States)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Kadir, Mohd Asmadi Akmal; Daud, Mohd Hisam

2017-09-01

The application of articulated robotic arm in industries is raised due to the expansion of using robot to replace human task, especially for the harmful tasks. However a few problems happen with the program use to schedule the arm, Thus the purpose of this project is to design, fabricate and integrate an articulated robotic arm by using Arduino microcontroller for handling glass sorting system. This project was designed to segregate glass and non-glass waste which would be pioneer step for recycling. This robotic arm has four servo motors to operate as a whole; three for the body and one for holding mechanism. This intelligent system is controlled by Arduino microcontroller and build with optical sensor to provide the distinguish objects that will be handled. Solidworks model was used to produce the detail design of the robotic arm and make the mechanical properties analysis by using a CAD software.

The Development of light-weight 2-link robot arm for high radiation area

Energy Technology Data Exchange (ETDEWEB)

Shin, Ho Cheol; Seo, Yong Chil; Jung, Kyung Min; Choi, Young Soo

2009-10-15

A light-weight 2-link robot arm which weight is less than 8kg was developed for treating the small radio-active material in the high radiation area such as nuclear power plants and NDT area. The light-weight 2-link robot arm can be attached on a small mobile robot and carry out tasks. It is a 5 DOF robot arm including a gripper

EVALUATION OF STATE-OF-THE-ART MANIPULATORS AND REQUIREMENTS FOR DOE ROBOTICS APPLICATIONS

Energy Technology Data Exchange (ETDEWEB)

BLACK, DEREK; GRUPINSKI, STEPHEN

1998-10-08

This report provides an overview of applications within the DOE complex which could benefit from the use of modular robotics technology during remediation operations. Each application area contains one or more specific tasks which are presently conducted by humans under hazardous conditions or which are deemed highly impractical, or are altogether impossible without automation. Five major areas were investigated for specific needs with respect to automation. Information was collected on Mixed Waste Operations, Contaminant Automated Analysis, Tanks, Decontamination and Dismantlement and Automated Plutonium Processing. During this investigation, information was gathered from available literature, telephone interviews with informed personnel and on-site visits. This data serves to provide design requirements and guidelines for the design of a family of modular actuators, which will be used to construct manipulators suited to each task. In addition, a survey of existing modular manipulator designs is presented. This survey addresses modular manipulators developed inside government labs and in universities for such applications as space exploration or controls research. It also addresses efforts at commercially viable industrial manipulators which have been built. This survey of robotic systems provides the reader with a glimpse into what technology currently exists in the way of modular manipulator automation and, to a degree, where this technology may be applicable or, more often, where these systems are unsuited to EM applications. From the information gathered during this study, it is possible to sufficiently define the requirements of one manipulator system which can be used to conduct automated transfer operations within Plutonium gloveboxes. This manipulator will be constructed from ARM Automation actuator modules and will provide this application with a viable option for automation within these gloveboxes. The design issues surrounding this manipulator and its

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms.

Science.gov (United States)

Beom, Jaewon; Koh, Sukgyu; Nam, Hyung Seok; Kim, Wonshik; Kim, Yoonjae; Seo, Han Gil; Oh, Byung-Mo; Chung, Sun Gun; Kim, Sungwan

2016-08-15

Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller

OpenAIRE

P. Wu; W. Wu

2012-01-01

Based on the stability request of robot’s moving on the ground, the motion planning of dual-arm mobile robot when moving on the ground is studied and the preview control system is applied in the robot walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system could be used in the generation of robot Center of Mass forward trajecto...

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

Rao, S.S.; Bhatti, P.K.

2001-01-01

A high performance, high speed robotic arm must be able to manipulate objects with a high degree of accuracy and repeatability. As with any other physical system, there are a number of factors causing uncertainties in the behavior of a robotic manipulator. These factors include manufacturing and assembling tolerances, and errors in the joint actuators and controllers. In order to study the effect of these uncertainties on the robotic end-effector and to obtain a better insight into the manipulator behavior, the manipulator kinematics and dynamics are modeled using a probabilistic approach. Based on the probabilistic model, kinematic and dynamic performance criteria are defined to provide measures of the behavior of the robotic end-effector. Techniques are presented to compute the kinematic and dynamic reliabilities of the manipulator. The effects of tolerances associated with the various manipulator parameters on the reliabilities are studied. Numerical examples are presented to illustrate the procedures

Controlling Flexible Robot Arms Using High Speed Dynamics Process

Science.gov (United States)

Jain, Abhinandan (Inventor)

1996-01-01

A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

Robot-Arm Dynamic Control by Computer

Science.gov (United States)

Bejczy, Antal K.; Tarn, Tzyh J.; Chen, Yilong J.

1987-01-01

Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

Interface Based on Electrooculography for Velocity Control of a Robot Arm

Directory of Open Access Journals (Sweden)

Eduardo Iáñez

2010-01-01

Full Text Available This paper describes a technique based on electrooculography to control a robot arm. This technique detects the movement of the eyes, measuring the difference of potential between the cornea and the retina by placing electrodes around the ocular area. The processing algorithm developed to obtain the position of the eye at the blink of the user is explained. The output of the processing algorithm offers, apart from the direction, four different values (zero to three to control the velocity of the robot arm according to how much the user is looking in one direction. This allows controlling two degrees of freedom of a robot arm with the eyes movement. The blink has been used to mark some targets in tests. In this paper, the experimental results obtained with a real robot arm are shown.

Implantación de un Controlador para la Cinemática Inversa del Brazo Robot Mitsubishi RV-2AJ a través de una Tarjeta ARM y MatLab

OpenAIRE

Cajamarca Peñafiel, Jorge Andres; Portilla Vargas, Alexis David

2016-01-01

The project involves the design and construction of a controller for handling the inverse and forward kinematics of the robot Mitsubishi RV-2AJ arm, it is located in the laboratories of the Salesian University in order to create a direct communication through an external card ARM and MatLab software. This driver allows the user to manipulate the robot arm Mitsubishi RV-2AJ in two categories, by joints and coordinates, with a compact hardware and easy to use interface, the autonomy is given...

Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot.

Science.gov (United States)

Cianchetti, M; Calisti, M; Margheri, L; Kuba, M; Laschi, C

2015-05-13

The octopus is an interesting model for the development of soft robotics, due to its high deformability, dexterity and rich behavioural repertoire. To investigate the principles of octopus dexterity, we designed an eight-arm soft robot and evaluated its performance with focused experiments. The OCTOPUS robot presented here is a completely soft robot, which integrates eight arms extending in radial direction and a central body which contains the main processing units. The front arms are mainly used for elongation and grasping, while the others are mainly used for locomotion. The robotic octopus works in water and its buoyancy is close to neutral. The experimental results show that the octopus-inspired robot can walk in water using the same strategy as the animal model, with good performance over different surfaces, including walking through physical constraints. It can grasp objects of different sizes and shapes, thanks to its soft arm materials and conical shape.

Interface evaluation for soft robotic manipulators

Science.gov (United States)

Moore, Kristin S.; Rodes, William M.; Csencsits, Matthew A.; Kwoka, Martha J.; Gomer, Joshua A.; Pagano, Christopher C.

2006-05-01

The results of two usability experiments evaluating an interface for the operation of OctArm, a biologically inspired robotic arm modeled after an octopus tentacle, are reported. Due to the many degrees-of-freedom (DOF) for the operator to control, such 'continuum' robotic limbs provide unique challenges for human operators because they do not map intuitively. Two modes have been developed to control the arm and reduce the DOF under the explicit direction of the operator. In coupled velocity (CV) mode, a joystick controls changes in arm curvature. In end-effector (EE) mode, a joystick controls the arm by moving the position of an endpoint along a straight line. In Experiment 1, participants used the two modes to grasp objects placed at different locations in a virtual reality modeling language (VRML). Objective measures of performance and subjective preferences were recorded. Results revealed lower grasp times and a subjective preference for the CV mode. Recommendations for improving the interface included providing additional feedback and implementation of an error recovery function. In Experiment 2, only the CV mode was tested with improved training of participants and several changes to the interface. The error recovery function was implemented, allowing participants to reverse through previously attained positions. The mean time to complete the trials in the second usability test was reduced by more than 4 minutes compared with the first usability test, confirming the interface changes improved performance. The results of these tests will be incorporated into future versions of the arm and improve future usability tests.

Comparative analysis of hydraulic crane-manipulating installations transport and technological machines and industrial robots hydraulic manipulators

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-09-01

Full Text Available The article presents results of comparative analysis of hydraulic crane-manipulator installations of mobile transport and technological machines and hydraulic manipulators of industrial robots. The comparative analysis is based on consid-eration of a wide range of types and sizes indicated technical devices of both domestic and foreign production: 1580 structures of cranes and more than 450 structures of industrial robots. It was performed in the following areas: func-tional purpose and basic technical characteristics; a design; the loading conditions of the model and failures in operation process; approaches to the design, calculation methods and mathematical modeling. The conclusions about the degree of similarity and the degree of difference hydraulic crane-manipulator installations of transport and technological ma-chines and hydraulic industrial robot manipulators from the standpoint of their design and modeling occurring in them during operation of dynamic and structural processes.

Design and Implementation of Fire Extinguisher Robot with Robotic Arm

Directory of Open Access Journals (Sweden)

Memon Abdul Waris

2018-01-01

Full Text Available Robot is a device, which performs human task or behave like a human-being. It needs expertise skills and complex programming to design. For designing a fire fighter robot, many sensors and motors were used. User firstly send robot to an affected area, to get live image of the field with the help of mobile camera via Wi-Fi using IP camera application to laptop. If any signs of fire shown in image, user direct robot in that particular direction for confirmation. Fire sensor and temperature sensor detects and measures the reading, after confirmation robot sprinkle water on affected field. During extinguish process if any obstacle comes in between the prototype and the affected area the ultrasonic sensor detects the obstacle, in response the robotic arm moves to pick and place that obstacle to another location for clearing the path. Meanwhile if any poisonous gas is present, the gas sensor detects and indicates by making alarm.

Robot Mechanisms

CERN Document Server

Lenarcic, Jadran; Stanišić, Michael M

2013-01-01

This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

Penggantian Slave Arm Ms-manipulator Hotcell Uji 02 Dan 03 Irm

OpenAIRE

Gogo, Antonio; Basiran

2015-01-01

─ The replacement of the failure slave arm unit of MS-manipulator in hot cell 02 and 03 of Radiometallurgy Installations (IRM) has been done. This replacement purposes in order to refunctioned the failure MS-manipulator (5 units) in examination hot cell 02 and 03. The slave arm unit of MS-manipulator in examination hot cell 02 and 03 using a hanging device so it is impossible to pulled the slave arm units out to the operating area. The handling process cover; setting zero position on master a...

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

Science.gov (United States)

Hannan, Michael W.; Walker, Ian D.

2003-01-01

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Self-repairing control for damaged robotic manipulators

International Nuclear Information System (INIS)

Eisler, G.R.; Robinett, R.D.; Dohrmann, C.R.; Driessen, B.J.

1997-03-01

Algorithms have been developed allowing operation of robotic systems under damaged conditions. Specific areas addressed were optimal sensor location, adaptive nonlinear control, fault-tolerant robot design, and dynamic path-planning. A seven-degree-of-freedom, hydraulic manipulator, with fault-tolerant joint design was also constructed and tested. This report completes this project which was funded under the Laboratory Directed Research and Development program

Robot-arm-based mobile HTS SQUID system for NDE of structures

Energy Technology Data Exchange (ETDEWEB)

Yotsugi, K; Hatsukade, Y; Tanaka, S [Department of Ecological Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku-cho, Toyohashi, Aichi 441-8580 (Japan)], E-mail: hatukade@eco.tut.ac.jp

2008-02-01

A robot-arm-based mobile HTS SQUID system was developed for NDE of fixed targets. To realize the system, active magnetic shielding technique using fluxgate as reference sensor for ambient field was applied to a cryocooler-based HTS SQUID gradiometer that was mounted on commercial robot-arm. In this technique, ambient field noise and pulse noise of 550 nT from robot were measured by the fluxgate near the SQUID, and then the fluxgate output was negatively fed back to generate compensation field around the SQUID and fluxgate. The noise from robot was reduced by a factor of about 20 and the shielding technique enabled the HTS SQUID to move in unshielded environment by the robot-arm without flux-trapping or unlocking at 10 mm/s. System noise measurement and inspection of hidden cracks in multi-layer composite-metal structure were demonstrated using the mobile SQUID-NDE system.

Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.

Science.gov (United States)

Zhang, Yong-de; Jiang, Jin-gang; Liang, Ting; Hu, Wei-ping

2011-12-01

Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.

Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

Science.gov (United States)

Mclauchlan, Robert A.

1989-01-01

Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

Fuzzy Logic and PID control of a 3 DOF Robotic Arm

Directory of Open Access Journals (Sweden)

Korhan Kayışlı

2017-12-01

Full Text Available The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively

Fuzzy-Genetic Optimal Control for Four Degreeof Freedom Robotic Arm Movement

OpenAIRE

V. K. Banga; R. Kumar; Y. Singh

2009-01-01

In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuzzy logic and Genetic Algorithms. The development of a fuzzy genetic optimizatio...

Exact positioning of the robotic arm end effector

Science.gov (United States)

Korepanov, Valery; Dudkin, Fedir

2016-07-01

Orbital service becomes a new challenge of space exploration. The necessity to introduce it is connected first of all with an attractive opportunity to prolong the exploitation terms of expensive commercial satellites by, e.g., refilling of fuel or changing batteries. Other application area is a fight with permanently increasing amount of space litter - defunct satellites, burnt-out rocket stages, discarded trash and other debris. Now more than few tens of thousands orbiting objects larger than 5-10 cm (or about 1 million junks larger than 1 cm) are a huge problem for crucial and costly satellites and manned vehicles. For example, in 2014 the International Space Station had to change three times its orbit to avoid collision with space debris. So the development of the concepts and actions related to removal of space debris or non-operational satellites with use of robotic arm of a servicing satellite is very actual. Such a technology is also applicable for unmanned exploratory missions in solar system, for example for collecting a variety of samples from a celestial body surface. Naturally, the robotic arm movements should be controlled with great accuracy at influence of its non-rigidity, thermal and other factors. In these circumstances often the position of the arm end effector has to be controlled with high accuracy. The possibility of coordinate determination for the robotic arm end effector with use of a low frequency active electromagnetic system has been considered in the presented report. The proposed design of such a system consists of a small magnetic dipole source, which is mounted inside of the arm end effector and two or three 3-component magnetic field sensors mounted on a servicing satellite body. The data from this set of 3-component magnetic field sensors, which are fixed relatively to the satellite body, allows use of the mathematical approach for determination of position and orientation of the magnetic dipole source. The theoretical

Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

Science.gov (United States)

Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

2017-08-01

One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

Macrobend optical sensing for pose measurement in soft robot arms

International Nuclear Information System (INIS)

Sareh, Sina; Noh, Yohan; Liu, Hongbin; Althoefer, Kaspar; Li, Min; Ranzani, Tommaso

2015-01-01

This paper introduces a pose-sensing system for soft robot arms integrating a set of macrobend stretch sensors. The macrobend sensory design in this study consists of optical fibres and is based on the notion that bending an optical fibre modulates the intensity of the light transmitted through the fibre. This sensing method is capable of measuring bending, elongation and compression in soft continuum robots and is also applicable to wearable sensing technologies, e.g. pose sensing in the wrist joint of a human hand. In our arrangement, applied to a cylindrical soft robot arm, the optical fibres for macrobend sensing originate from the base, extend to the tip of the arm, and then loop back to the base. The connectors that link the fibres to the necessary opto-electronics are all placed at the base of the arm, resulting in a simplified overall design. The ability of this custom macrobend stretch sensor to flexibly adapt its configuration allows preserving the inherent softness and compliance of the robot which it is installed on. The macrobend sensing system is immune to electrical noise and magnetic fields, is safe (because no electricity is needed at the sensing site), and is suitable for modular implementation in multi-link soft continuum robotic arms. The measurable light outputs of the proposed stretch sensor vary due to bend-induced light attenuation (macrobend loss), which is a function of the fibre bend radius as well as the number of repeated turns. The experimental study conducted as part of this research revealed that the chosen bend radius has a far greater impact on the measured light intensity values than the number of turns (if greater than five). Taking into account that the bend radius is the only significantly influencing design parameter, the macrobend stretch sensors were developed to create a practical solution to the pose sensing in soft continuum robot arms. Henceforward, the proposed sensing design was benchmarked against an electromagnetic

Wheelchair-mounted robotic arm to hold and move a communication device - final design.

Science.gov (United States)

Barrett, Graham; Kurley, Kyle; Brauchie, Casey; Morton, Scott; Barrett, Steven

2015-01-01

At the 51st Rocky Mountain Bioengineering Symposium we presented a preliminary design for a robotic arm to assist an individual living within an assistive technology smart home. The individual controls much of their environment with a Dynavox Maestro communication device. However, the device obstructs the individual’s line of site when navigating about the smart home. A robotic arm was developed to move the communication device in and out of the user’s field of view as desired. The robotic arm is controlled by a conveniently mounted jelly switch. The jelly switch sends control signals to a four state (up, off, down, off) single-axis robotic arm interfaced to a DC motor by high power electronic relays. This paper describes the system, control circuitry, and multiple safety features. The arm will be delivered for use later in 2015.

Robotically facilitated virtual rehabilitation of arm transport integrated with finger movement in persons with hemiparesis.

Science.gov (United States)

Merians, Alma S; Fluet, Gerard G; Qiu, Qinyin; Saleh, Soha; Lafond, Ian; Davidow, Amy; Adamovich, Sergei V

2011-05-16

Recovery of upper extremity function is particularly recalcitrant to successful rehabilitation. Robotic-assisted arm training devices integrated with virtual targets or complex virtual reality gaming simulations are being developed to deal with this problem. Neural control mechanisms indicate that reaching and hand-object manipulation are interdependent, suggesting that training on tasks requiring coordinated effort of both the upper arm and hand may be a more effective method for improving recovery of real world function. However, most robotic therapies have focused on training the proximal, rather than distal effectors of the upper extremity. This paper describes the effects of robotically-assisted, integrated upper extremity training. Twelve subjects post-stroke were trained for eight days on four upper extremity gaming simulations using adaptive robots during 2-3 hour sessions. The subjects demonstrated improved proximal stability, smoothness and efficiency of the movement path. This was in concert with improvement in the distal kinematic measures of finger individuation and improved speed. Importantly, these changes were accompanied by a robust 16-second decrease in overall time in the Wolf Motor Function Test and a 24-second decrease in the Jebsen Test of Hand Function. Complex gaming simulations interfaced with adaptive robots requiring integrated control of shoulder, elbow, forearm, wrist and finger movements appear to have a substantial effect on improving hemiparetic hand function. We believe that the magnitude of the changes and the stability of the patient's function prior to training, along with maintenance of several aspects of the gains demonstrated at retention make a compelling argument for this approach to training.

Emergency disconnect means for the manipulator arm of a nuclear reactor vessel inspection apparatus

International Nuclear Information System (INIS)

Jacobs, F.; Morris, D.W.

1980-01-01

An emergency disconnect means is disclosed for uncoupling a portion of the linkage means which connects the several segments of an articulating manipulator arm employed in a nuclear reactor vessel inspection device. One of the motor housings included in the manipulator arm's segmented drive train is pivotably coupled between two segments thereof. In the event of power failure or the necessity of manual retraction of the manipulator arm from within the vessel, a lever is manually operated and moved from its normally locked position wherein the motor housing is positionally fixed to a release position wherein the motor housing and the remainder of the manipulator arm segments connected forwardly thereof are pivotally released to shorten the normal arm reach and alter the normal orientation of the manipulator arm to expedite removal without danger of collision. (auth)

INDUSTRIAL ROBOT ARM SIMULATION SOFTWARE DEVELOPMENT USING JAVA-3D AND MATLAB SIMULINK PROGRAMMING LANGUAGE

OpenAIRE

Wirabhuana, Arya

2011-01-01

Robot Arms Simulation Software development using Structured Programming Languages, Third Party Language, and Artificial Intelligence Programming Language are the common techniques in simulating robot arms movement. Those three techniques are having its strengths and weaknesses depend on several constraints such as robot type, degree of operation complexity to be simulated, operator skills, and also computer capability. This paper will discuss on Robot Arms Simulation Software (RSS) developmen...

Ultra light inspection robotic arm, design and modeling

International Nuclear Information System (INIS)

Voisembert, S.

2012-01-01

One of the major challenges in robotics is the improvement of inspections operations in confined and hazardous area using unmanned remote handling systems. Articulated arm are used in this case to carry some diagnostic tools for the inspection tasks. These long reach multi-link carriers should be characterized by a large workspace and reduced mass. Today, with about ten degrees of freedom and ten meters long they have reached their performance limit. Indeed, for long reach, the arm should have enough torque to carry its own weight plus the payload in cantilever mode and enough stiffness to minimize the deflection caused by the gravity. Despite the use of best materials and components, this kind of robot has reach its performance limit. Overcoming this limit needs a change in paradigm. Therefore a problem-solving, analysis and forecasting tool TRIZ (theory of inventive problem solving) is used. It leads naturally to identify the origin of the dilemma: the proper weight of the arm and so its mass under gravity. In particular, it proposes to postulate that a no-mass robot exists. An analysis of the properties of such a robot leads to the patented concept of an ultra light inflatable robot with unique and constant volume and constant diameter joints. This new object would benefit from advantages such as easy implementation, harmlessness toward its environment and so the ability to lean on it without damage. Therefore it could easily increase its range and its foreseen low-cost building would open a wide field of new applications. This thesis work, elaborates appropriate technical concepts and dimensioning methods for ultra light inflatable robots. The payload and length performances of an inflatable robot are analytically validated. Experimentations and a finite-element modeling are used for a pre-dimensioning of the joints and different modes of construction are prototyped in partnership with, specialized company in thigh-tech textile. The joints are also modeled with

Towards the development of a soft manipulator as an assistive robot for personal care of elderly people

Directory of Open Access Journals (Sweden)

Yasmin Ansari

2017-03-01

Full Text Available Manipulators based on soft robotic technologies exhibit compliance and dexterity which ensures safe human–robot interaction. This article is a novel attempt at exploiting these desirable properties to develop a manipulator for an assistive application, in particular, a shower arm to assist the elderly in the bathing task. The overall vision for the soft manipulator is to concatenate three modules in a serial manner such that (i the proximal segment is made up of cable-based actuation to compensate for gravitational effects and (ii the central and distal segments are made up of hybrid actuation to autonomously reach delicate body parts to perform the main tasks related to bathing. The role of the latter modules is crucial to the application of the system in the bathing task; however, it is a nontrivial challenge to develop a robust and controllable hybrid actuated system with advanced manipulation capabilities and hence, the focus of this article. We first introduce our design and experimentally characterize its functionalities, which include elongation, shortening, omnidirectional bending. Next, we propose a control concept capable of solving the inverse kinetics problem using multiagent reinforcement learning to exploit these functionalities despite high dimensionality and redundancy. We demonstrate the effectiveness of the design and control of this module by demonstrating an open-loop task space control where it successfully moves through an asymmetric 3-D trajectory sampled at 12 points with an average reaching accuracy of 0.79 cm ± 0.18 cm. Our quantitative experimental results present a promising step toward the development of the soft manipulator eventually contributing to the advancement of soft robotics.

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

Science.gov (United States)

Barker, L. K.; Houck, J. A.; Carzoo, S. W.

1984-01-01

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

A set of decentralized PID controllers for an n–link robot manipulator

Indian Academy of Sciences (India)

A class of stabilizing decentralized proportional integral derivative (PID) controllers for an -link robot manipulator system is proposed. The range of decentralized PID controller parameters for an -link robot manipulator is obtained using Kharitonov theorem and stability boundary equations. Basically, the proposed design ...

Survey of advanced general-purpose software for robot manipulators

International Nuclear Information System (INIS)

Latombe, J.C.

1983-01-01

Computer-controlled sensor-based robots will more and more common in industry. This paper attempts to survey the main trends of the development of advanced general-purpose software for robot manipulators. It is intended to make clear that robots are not only mechanical devices. They are truly programmable machines, and their programming, which occurs in an imperfectly modelled world,is somewhat different from conventional computer programming. (orig.)

Lending a helping hand: toward novel assistive robotic arms

NARCIS (Netherlands)

Groothuis, Stefan; Stramigioli, Stefano; Carloni, Raffaella

Assistive robotics is an increasingly popular research field, which has led to a large number of commercial and noncommercial systems aimed at assisting physically impaired or elderly users in the activities of daily living. In this article, we propose five criteria based on robotic arm usage

Probabilistic scan mode of a robot manipulator workspace using EEG signals. Part I

International Nuclear Information System (INIS)

Auat Cheein, Fernando A; Di Sciascio, Fernando; Freire Bastos, Teodiano; Carelli, Ricardo

2007-01-01

In this paper a probabilistic-based workspace scan mode of a manipulator robot is presented. The scan mode is governed by a Brain Computer Interface (BCI) based on Event Related Potentials (Synchronization and Dessynchronization events). The user is capable to select a specific position at the robot's workspace, which should be reached by the manipulator. The robot workspace is divided into cells. Each cell has a probability value associated with it. Once the robot reaches a cell, its probability value is updated. The mode the scan is made is determined by the probability of all cells at the workspace. Finally, the manipulator is teleoperated via TCP/IP

Reference trajectory tracking for a multi-DOF robot arm

Directory of Open Access Journals (Sweden)

Krasňanský Róbert

2015-12-01

Full Text Available This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.

Balancing of linkages and robot manipulators advanced methods with illustrative examples

CERN Document Server

Arakelian, Vigen

2015-01-01

In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.

Developing and modeling of voice control system for prosthetic robot arm in medical systems

Directory of Open Access Journals (Sweden)

Koksal Gundogdu

2018-04-01

Full Text Available In parallel with the development of technology, various control methods are also developed. Voice control system is one of these control methods. In this study, an effective modelling upon mathematical models used in the literature is performed, and a voice control system is developed in order to control prosthetic robot arms. The developed control system has been applied on four-jointed RRRR robot arm. Implementation tests were performed on the designed system. As a result of the tests; it has been observed that the technique utilized in our system achieves about 11% more efficient voice recognition than currently used techniques in the literature. With the improved mathematical modelling, it has been shown that voice commands could be effectively used for controlling the prosthetic robot arm. Keywords: Voice recognition model, Voice control, Prosthetic robot arm, Robotic control, Forward kinematic

Pneumatic artificial muscle actuators for compliant robotic manipulators

Science.gov (United States)

Robinson, Ryan Michael

Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

6-REXOS: Upper Limb Exoskeleton Robot with Improved pHRI

Directory of Open Access Journals (Sweden)

Malin Gunasekara

2015-04-01

Full Text Available Close interaction can be observed between an exoskeleton robot and its wearer. Therefore, appropriate physical human-robot interaction (pHRI should be considered when designing an exoskeleton robot to provide safe and comfortable motion assistance. Different features have been used in recent studies to enhance the pHRI in upper-limb exoskeleton robots. However, less attention has been given to integrating kinematic redundancy into upper-limb exoskeleton robots to improve the pHRI. In this context, this paper proposes a six-degrees-of-freedom (DoF upper-limb exoskeleton robot (6-REXOS for the motion assistance of physically weak individuals. The 6-REXOS uses a kinematically different structure to that of the human lower arm, where the exoskeleton robot is worn. The 6-REXOS has four active DoFs to generate the motion of the human lower arm. Furthermore, two flexible bellow couplings are attached to the wrist and elbow joints to generate two passive DoFs. These couplings not only allow translational motion in wrist and elbow joints but also a redundancy in the robot. Furthermore, the compliance of the flexible coupling contributes to avoiding misalignments between human and robot joint axes. The redundancy in the 6-REXOS is verified based on manipulability index, minimum singular value, condition number and manipulability ellipsoids. The 6-REXOS and a four-DoF exoskeleton robot are compared to verify the manipulation advantage due to the redundancy. The four-DoF exoskeleton robot is designed by excluding the two passive DoFs of the 6-REXOS. In addition, a kinematic model is proposed for the human lower arm to validate the performance of the 6-REXOS. Kinematic analysis and simulations are carried out to validate the 6-REXOS and human-lower-arm model.

Robotically facilitated virtual rehabilitation of arm transport integrated with finger movement in persons with hemiparesis

Directory of Open Access Journals (Sweden)

Davidow Amy

2011-05-01

Full Text Available Abstract Background Recovery of upper extremity function is particularly recalcitrant to successful rehabilitation. Robotic-assisted arm training devices integrated with virtual targets or complex virtual reality gaming simulations are being developed to deal with this problem. Neural control mechanisms indicate that reaching and hand-object manipulation are interdependent, suggesting that training on tasks requiring coordinated effort of both the upper arm and hand may be a more effective method for improving recovery of real world function. However, most robotic therapies have focused on training the proximal, rather than distal effectors of the upper extremity. This paper describes the effects of robotically-assisted, integrated upper extremity training. Methods Twelve subjects post-stroke were trained for eight days on four upper extremity gaming simulations using adaptive robots during 2-3 hour sessions. Results The subjects demonstrated improved proximal stability, smoothness and efficiency of the movement path. This was in concert with improvement in the distal kinematic measures of finger individuation and improved speed. Importantly, these changes were accompanied by a robust 16-second decrease in overall time in the Wolf Motor Function Test and a 24-second decrease in the Jebsen Test of Hand Function. Conclusions Complex gaming simulations interfaced with adaptive robots requiring integrated control of shoulder, elbow, forearm, wrist and finger movements appear to have a substantial effect on improving hemiparetic hand function. We believe that the magnitude of the changes and the stability of the patient's function prior to training, along with maintenance of several aspects of the gains demonstrated at retention make a compelling argument for this approach to training.

Design and real-time control of a robotic system for fracture manipulation.

Science.gov (United States)

Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

2015-08-01

This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

Parallelogram mechanisms for mine manipulator arms

Energy Technology Data Exchange (ETDEWEB)

Yoncheva, N

1983-01-01

Kinematic equations are written for the mechanism of a manipulator arm which is used as the operational element of a basic machine and is shaped like a parallelogram. The drive is accomplished using a hydraulic cylinder. A transfer functions method is used to acquire kinematic equations of the final shifts and equations for determining accelerations.

Emergency retraction mechanism for the manipulator arm of a nuclear reactor vessel inspection apparatus

International Nuclear Information System (INIS)

1980-01-01

Nuclear reactor vessels are made using numerous welds. These have to be inspected, often using ultrasonic transducers mounted on a manipulator arm. This invention seeks to solve the problem of retracting the manipulator arm should an emergency occur while it is fully extended, particularly within one of the reactor vessel nozzles. Of specific concern is the situation where power fails with the manipulator arm so extended. Details are given of an emergency retraction mechanism for use in reactor vessel inspection apparatus. A manual retraction means is used; the manipulator arm is slidably mounted within a frame. This comprises a member mounted on the arm for looping engagement by a cable, the cable being fixed at one end of the arm frame and engaging the member, and a clamp for detachably securing the cable at its other end to the arm frame at a point which is accessible from above the vessel. (U.K.)

Application of model based control to robotic manipulators

Science.gov (United States)

Petrosky, Lyman J.; Oppenheim, Irving J.

1988-01-01

A robot that can duplicate humam motion capabilities in such activities as balancing, reaching, lifting, and moving has been built and tested. These capabilities are achieved through the use of real time Model-Based Control (MBC) techniques which have recently been demonstrated. MBC accounts for all manipulator inertial forces and provides stable manipulator motion control even at high speeds. To effectively demonstrate the unique capabilities of MBC, an experimental robotic manipulator was constructed, which stands upright, balancing on a two wheel base. The mathematical modeling of dynamics inherent in MBC permit the control system to perform functions that are impossible with conventional non-model based methods. These capabilities include: (1) Stable control at all speeds of operation; (2) Operations requiring dynamic stability such as balancing; (3) Detection and monitoring of applied forces without the use of load sensors; (4) Manipulator safing via detection of abnormal loads. The full potential of MBC has yet to be realized. The experiments performed for this research are only an indication of the potential applications. MBC has no inherent stability limitations and its range of applicability is limited only by the attainable sampling rate, modeling accuracy, and sensor resolution. Manipulators could be designed to operate at the highest speed mechanically attainable without being limited by control inadequacies. Manipulators capable of operating many times faster than current machines would certainly increase productivity for many tasks.

Pyrotechnic robot - constructive design and command

Directory of Open Access Journals (Sweden)

Ionel A. Staretu

2013-10-01

Full Text Available Pyrotechnic robots are service robots used to reduce the time for intervention of pyrotechnic troops and to diminish the danger for the operators. Pyrotechnic robots are used to inspect dangerous areas or/and to remove and to distroy explosive or suspicious devices/objects. These robots can be used to make corridors through mined battle fields, for manipulation and neutralization of unexploded ammunition, for inspection of vehicles, trains, airplanes and buildings. For these robots, a good functional activity is determined with regard to work space dimensions,, robotic arm kinematics and gripper characteristics. The paper shows the structural, kinematic, static synthesis and analysis as well as the design and functional simulation of the robotic arm and the grippers attached on the pyrotechnic robot designed by the authors.

Controlling flexible robot arms using a high speed dynamics process

Science.gov (United States)

Jain, Abhinandan (Inventor); Rodriguez, Guillermo (Inventor)

1992-01-01

Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

Application of a Dual-Arm Robot in Complex Sample Preparation and Measurement Processes.

Science.gov (United States)

Fleischer, Heidi; Drews, Robert Ralf; Janson, Jessica; Chinna Patlolla, Bharath Reddy; Chu, Xianghua; Klos, Michael; Thurow, Kerstin

2016-10-01

Automation systems with applied robotics have already been established in industrial applications for many years. In the field of life sciences, a comparable high level of automation can be found in the areas of bioscreening and high-throughput screening. Strong deficits still exist in the development of flexible and universal fully automated systems in the field of analytical measurement. Reasons are the heterogeneous processes with complex structures, which include sample preparation and transport, analytical measurements using complex sensor systems, and suitable data analysis and evaluation. Furthermore, the use of nonstandard sample vessels with various shapes and volumes results in an increased complexity. The direct use of existing automation solutions from bioscreening applications is not possible. A flexible automation system for sample preparation, analysis, and data evaluation is presented in this article. It is applied for the determination of cholesterol in biliary endoprosthesis using gas chromatography-mass spectrometry (GC-MS). A dual-arm robot performs both transport and active manipulation tasks to ensure human-like operation. This general robotic concept also enables the use of manual laboratory devices and equipment and is thus suitable in areas with a high standardization grade. © 2016 Society for Laboratory Automation and Screening.

Space robot simulator vehicle

Science.gov (United States)

Cannon, R. H., Jr.; Alexander, H.

1985-01-01

A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

A Human-Robot Co-Manipulation Approach Based on Human Sensorimotor Information.

Science.gov (United States)

Peternel, Luka; Tsagarakis, Nikos; Ajoudani, Arash

2017-07-01

This paper aims to improve the interaction and coordination between the human and the robot in cooperative execution of complex, powerful, and dynamic tasks. We propose a novel approach that integrates online information about the human motor function and manipulability properties into the hybrid controller of the assistive robot. Through this human-in-the-loop framework, the robot can adapt to the human motor behavior and provide the appropriate assistive response in different phases of the cooperative task. We experimentally evaluate the proposed approach in two human-robot co-manipulation tasks that require specific complementary behavior from the two agents. Results suggest that the proposed technique, which relies on a minimum degree of task-level pre-programming, can achieve an enhanced physical human-robot interaction performance and deliver appropriate level of assistance to the human operator.

Kinematic modelling of a five-DOFs spatial manipulator used in robot-assisted surgery

Directory of Open Access Journals (Sweden)

Shakti Singh

2016-09-01

Full Text Available Since last three decades, research in the field of robot kinematics is boosted-up among different researchers worldwide. This is mainly due to their increased use in various challenging fields of engineering and science. One such challenging application is the use of master–slave concept in a robot-assisted surgery. The authors have already performed the kinematic study and gravity balancing of seven degrees-of-freedom (DOFs surgeon-side manipulator (Singh et al., 2015a, 2015b. To meet these challenging demands, the most important aspect of a robotic manipulator is to develop an accurate kinematic model. In this direction, different researchers in the literature have made significant contributions. Out of these, the most prominent one is D–H parameters method, which was proposed by Denavit and Hartenberg in 1955. In the present work, this method is applied to a five-DOFs spatial manipulator, named as patient-side manipulator, which tracks the motion of surgeon-side manipulator during a robot-assisted surgery. The prototype considered in this work is a spatial serial manipulator, being developed at CSIR-CSIO Chandigarh. Experimental validations are performed and results are found to be in close agreement.

Research regarding the influence of driving-wires length change on positioning precision of a robotic arm

Science.gov (United States)

Ciofu, C.; Stan, G.

2016-08-01

The paper emphasise positioning precision of an elephant's trunk robotic arm which has joints driven by wires with variable length while operating The considered 5 degrees of freedom robotic arm has a particular structure of joint that makes possible inner actuation with wire-driven mechanism. We analyse solely the length change of wires as a consequence due inner winding and unwinding on joints for certain values of rotational angles. Variations in wires length entail joint angular displacements. We analyse positioning precision by taking into consideration equations from inverse kinematics of the elephant's trunk robotic arm. The angular displacements of joints are considered into computational method after partial derivation of positioning equations. We obtain variations of wires length at about tenths of micrometers. These variations employ angular displacements which are about minutes of sexagesimal degree and, thus, define positioning precision of elephant's trunk robotic arms. The analytical method is used for determining aftermath design structure of an elephant's trunk robotic arm with inner actuation through wires on positioning precision. Thus, designers could take suitable decisions on accuracy specifications limits of the robotic arm.

The Phoenix Mars Lander Robotic Arm

Science.gov (United States)

Bonitz, Robert; Shiraishi, Lori; Robinson, Matthew; Carsten, Joseph; Volpe, Richard; Trebi-Ollennu, Ashitey; Arvidson, Raymond E.; Chu, P. C.; Wilson, J. J.; Davis, K. R.

2009-01-01

The Phoenix Mars Lander Robotic Arm (RA) has operated for over 150 sols since the Lander touched down on the north polar region of Mars on May 25, 2008. During its mission it has dug numerous trenches in the Martian regolith, acquired samples of Martian dry and icy soil, and delivered them to the Thermal Evolved Gas Analyzer (TEGA) and the Microscopy, Electrochemistry, and Conductivity Analyzer (MECA). The RA inserted the Thermal and Electrical Conductivity Probe (TECP) into the Martian regolith and positioned it at various heights above the surface for relative humidity measurements. The RA was used to point the Robotic Arm Camera to take images of the surface, trenches, samples within the scoop, and other objects of scientific interest within its workspace. Data from the RA sensors during trenching, scraping, and trench cave-in experiments have been used to infer mechanical properties of the Martian soil. This paper describes the design and operations of the RA as a critical component of the Phoenix Mars Lander necessary to achieve the scientific goals of the mission.

Simulation of cooperating robot manipulators on a mobile platform

Science.gov (United States)

Murphy, Steve H.; Wen, John T.; Saridis, George N.

1990-01-01

The dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation.

A Low-Cost Immersive Virtual Reality System for Teaching Robotic Manipulators Programming

Directory of Open Access Journals (Sweden)

Vicente Román-Ibáñez

2018-04-01

Full Text Available Laboratory tasks are a powerful pedagogical strategy for developing competences in science and engineering degrees, making students understand in a practical way the theoretical topics explained in the classroom. However, performing experiments in real conditions is usually expensive in terms of time, money and energy, as it requires expensive infrastructures that are generally difficult to maintain in good conditions. To overcome this problem, virtual reality has proven to be a powerful tool to achieve sustainability, making it easy to update laboratories without the need to acquire new equipment. Moreover, the ability to introduce practical knowledge into classrooms without leaving them, makes virtual laboratories capable of simulating typical operating environments as well as extreme situations in the operation of different devices. A typical subject in which students can benefit from the use of virtual laboratories is robotics. In this work we will develop an immersive virtual reality (VR pedagogical simulator of industrial robotic arms for engineering students. With the proposed system, students will know the effects of their own designed trajectories on several different robotic arms and cell environments without having to buy all of them and being safe of damaging the cell components. The simulation will be checking for collisions of the elements in the scene and alert the student when they happen. This can be achieved with a robotic simulator, but the integration with immersive VR is intended to help students better understand robotics. Moreover, even having a real robotic arm available for students, with this proposed VR method, all the students have the opportunity to manage and learn his own version of the robotic cell, without waiting times generated by having less robotic arms than students in classroom.

Development of safe mechanism for surgical robots using equilibrium point control method.

Science.gov (United States)

Park, Shinsuk; Lim, Hokjin; Kim, Byeong-sang; Song, Jae-bok

2006-01-01

This paper introduces a novel mechanism for surgical robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi-joint limb movements are achieved by shifting the limbs' equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness. This double-actuator mechanism allows us to arbitrarily manipulate the stiffness (or impedance) of a robotic manipulator as well as its position. Also, the force at the end-effector can be estimated based on joint stiffness and joint angle changes without using force transducers. A two-link manipulator and a three-link manipulator with the double-actuator units have been developed, and experiments and simulation results show the potential of the proposed approach. By creating the human arm-like behavior, this mechanism can improve the performance of robot manipulators to execute stable and safe movement in surgical environments by using a simple control scheme.

Mobile HTS-SQUID NDE system with robot arm and active shielding using fluxgate

Energy Technology Data Exchange (ETDEWEB)

Hatsukade, Y. [Department of Ecological Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580 (Japan)], E-mail: hatukade@eco.tut.ac.jp; Yotsugi, K.; Tanaka, S. [Department of Ecological Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580 (Japan)

2008-09-15

A robot-arm-based mobile HTS-SQUID NDE system was developed for inspection of advanced structures such as hydrogen fuel cell tanks. In order to realize stable operation of HTS-SQUID exposed in Earth's field and robot arm's noise without flux trapping, flux jumping and unlocking during motion, a new active magnetic shielding (AMS) technique using fluxgate was introduced. The high sensitive fluxgate, which could measure magnetic field of up to several 10 {mu}T, was mounted near an HTS-SQUID gradiometer on the robot arm to measure the ambient noise and feed back its output to a compensation coil, which surrounded both SQUID and fluxgate to cancel the ambient noise around them. The AMS technique successfully enabled the HTS-SQUID gradiometer to be moved at 10 mm/s by the robot arm in unshielded environment without flux trapping, jumping and unlocking. Detection of hidden slots in multi-layer composite-metal structures imitating the fuel cell tank was demonstrated.

Coordination of dual robot arms using kinematic redundancy

Science.gov (United States)

Suh, Il Hong; Shin, Kang G.

1988-01-01

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

Inverse kinematics of OWI-535 robotic arm

OpenAIRE

DEBENEC, PRIMOŽ

2015-01-01

The thesis aims to calculate the inverse kinematics for the OWI-535 robotic arm. The calculation of the inverse kinematics determines the joint parameters that provide the right pose of the end effector. The pose consists of the position and orientation, however, we will focus only on the second one. Due to arm limitations, we have created our own type of the calculation of the inverse kinematics. At first we have derived it only theoretically, and then we have transferred the derivation into...

Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

Science.gov (United States)

Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

2013-08-01

In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

Intelligent robot / manipulator systems for NDT of primary components in nuclear power plants; Intelligente Roboter / Handhabungssysteme fuer die Pruefung von Primaerkreiskomponenten in Kernkraftwerken

Energy Technology Data Exchange (ETDEWEB)

Dirauf, F.; Gottfried, R.; Bauer, R. [Siemens AG, KWU, Erlangen (Germany)

1999-08-01

The inspection robot developed by Siemens KWU for BWR reactor pressure vessel inspection has a mounting plate with exchangeable parts so as to fit into the various profiles of the vertical guiding tracks at the different pressure vessels. The robot is a versatile device also due to its variable cinematic equipment and thus can be used for any task hitherto performed by the available manipulators. For BWR pressure vessel testing, a novel, compact probe system equipped with five radiation assemblies has been combined with the ultrasonic SAPHIR probe. Until now, NDE of the RPV nozzles in BWRs has been carried out from the outside of the component. The newly developed manipulator of Siemens for inspection of the RPV nozzles can be moved to the nozzles either by manipulating arms or by a floating device, and is fixed to the nozzles by means of pneumatic suckers. Due to the modular design, probe arrays can be exchanged according to nozzle size or structural profiles to be tested. The mobile testing robot SISTAR for PWR pressure vessels consists of a floating cylinder platform that is moved under water to the target position by popellers or by ropes. It is self-adjusting for taking horizontal position and is held in position in the center of the RPV by means of a radial arrangement of legs automatically and synchronously extending from the robot. The platform can be equipped with one or two manipulator arms, depending on the testing task. (orig./CB) [Deutsch] Der von Siemens KWU neuentwickelte Pruefroboter fuer SWR-Reaktordruckbehaelter besitzt einen auswechselbaren Grundwagen, so dass er an die unterschiedlichen Profile der vertikalen Fuehrungsschienen in den einzelnen Kraftwerken angepasst werden kann. Er ist damit auch aufgrund seiner variablen Kinematik universell einsetzbar und kann saemtliche herkoemmliche Manipulatoren ersetzen. In Verbindung mit dem US-Pruefgeraet SAPHIR wurde fuer die SWR-Reaktordruckbehaelter ein neuartiges kompaktes Pruefkopfsystem mit fuenf

A New Cancer Radiotherapy System Using Multi Robotic Manipulators

International Nuclear Information System (INIS)

Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok

2013-01-01

The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

A New Cancer Radiotherapy System Using Multi Robotic Manipulators

Energy Technology Data Exchange (ETDEWEB)

Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2013-10-15

The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Science.gov (United States)

Marzwell, Neville I.; Chen, Alexander Y. K.

1991-01-01

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two

Posture manipulation for rescue activity via small traction robots

International Nuclear Information System (INIS)

Iwano, Yuki; Osuka, Koichi; Amano, Hisanori

2006-01-01

We discuss a conceptual design of rescue robots against nuclear-power plant accidents. We claim that the rescue robots in nuclear-power plants should have the following properties. (1) The size is small. (2) The structure is simple. (3) The number of the robots is large. This paper studies the rescue robots to rescue people in an area polluted with radioactive leakage in nuclear power institutions. In particular, we propose a rescue system which consists of a group of small mobile robots. First, small traction robots set the posture of the fainted victims to carry easily, and carry them to the safety space with the mobile robots for the stretcher composition. In this paper, we describe the produced small traction robots. And, we confirm that the robots can manipulate a 40 kg dummy doll's posture. We also examine the optimal number of robots from a perspective of working efficiency in the assumption spot. (author)

Soft Robotic Manipulation of Onions and Artichokes in the Food Industry

Directory of Open Access Journals (Sweden)

R. Morales

2014-04-01

Full Text Available This paper presents the development of a robotic solution for a problem of fast manipulation and handling of onions or artichokes in the food industry. The complete solution consists of a parallel robotic manipulatior, a specially designed end-effector based on a customized vacuum suction cup, and a computer vision software developed for pick and place operations. First, the selection and design process of the proposed robotic solution to fit with the initial requeriments is presented, including the customized vacuum suction cup. Then, the kinematic analysis of the parallel manipulator needed to develop the robot control system is reviewed. Moreover, computer vision application is presented inthe paper. Hardware details of the implementation of the building prototype are also shown. Finally, conclusions and future work show the current status of the project.

Whole arm manipulation planning based on feedback velocity fields and sampling-based techniques.

Science.gov (United States)

Talaei, B; Abdollahi, F; Talebi, H A; Omidi Karkani, E

2013-09-01

Changing the configuration of a cooperative whole arm manipulator is not easy while enclosing an object. This difficulty is mainly because of risk of jamming caused by kinematic constraints. To reduce this risk, this paper proposes a feedback manipulation planning algorithm that takes grasp kinematics into account. The idea is based on a vector field that imposes perturbation in object motion inducing directions when the movement is considerably along manipulator redundant directions. Obstacle avoidance problem is then considered by combining the algorithm with sampling-based techniques. As experimental results confirm, the proposed algorithm is effective in avoiding jamming as well as obstacles for a 6-DOF dual arm whole arm manipulator. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation

Directory of Open Access Journals (Sweden)

Rong Mei

2017-01-01

Full Text Available This paper presents an adaptive neural output feedback control scheme for uncertain robot manipulators with input saturation using the radial basis function neural network (RBFNN and disturbance observer. First, the RBFNN is used to approximate the system uncertainty, and the unknown approximation error of the RBFNN and the time-varying unknown external disturbance of robot manipulators are integrated as a compounded disturbance. Then, the state observer and the disturbance observer are proposed to estimate the unmeasured system state and the unknown compounded disturbance based on RBFNN. At the same time, the adaptation technique is employed to tackle the control input saturation problem. Utilizing the estimate outputs of the RBFNN, the state observer, and the disturbance observer, the adaptive neural output feedback control scheme is developed for robot manipulators using the backstepping technique. The convergence of all closed-loop signals is rigorously proved via Lyapunov analysis and the asymptotically convergent tracking error is obtained under the integrated effect of the system uncertainty, the unmeasured system state, the unknown external disturbance, and the input saturation. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed adaptive neural output feedback control scheme for uncertain robot manipulators.

Kinematics and trajectory synthesis of manipulation robots

CERN Document Server

Vukobratović, Miomir

1986-01-01

A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con­ trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha­ nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono­ graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro­ bots, respectively. They form the first part of the series which has a certain topic...

Finding Optimal Independent Grasp Regions of Parallel Manipulators with Additional Applications for Limbed Robot Mobility

Data.gov (United States)

National Aeronautics and Space Administration — For the problem of robotic manipulation, wherein a robotic manipulator interacts with objects or its environment using an end-effector (gripper), there have been...

Modular robotics overview of the 'state of the art'

International Nuclear Information System (INIS)

Kress, R.L.; Jansen, J.F.; Hamel, W.R.

1996-08-01

The design of a robotic arm processing modular components and reconfigurable links is the general goal of a modular robotics development program. The impetus behind the pursuit of modular design is the remote engineering paradigm of improved reliability and availability provided by the ability to remotely maintain and repair a manipulator operating in a hazardous environment by removing and replacing worn or failed modules. Failed components can service off- line and away from hazardous conditions. The desire to reconfigure an arm to perform different tasks is also an important driver for the development of a modular robotic manipulator. In order to bring to fruition a truly modular manipulator, an array of technical challenges must be overcome. These range from basic mechanical and electrical design considerations such as desired kinematics, actuator types, and signal and transmission types and routings, through controls issues such as the need for control algorithms capable of stable free space and contact control, to computer and sensor design issues like consideration of the use of embedded processors and redundant sensors. This report presents a brief overview of the state of the art of technical issues relevant of modular robotic arm design. The focus is on breadth of coverage, rather than depth, in order to provide a reference frame for future development

Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

Science.gov (United States)

Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

2016-01-01

Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology. PMID:27966546

Methodology for cloud-based design of robots

Science.gov (United States)

Ogorodnikova, O. M.; Vaganov, K. A.; Putimtsev, I. D.

2017-09-01

This paper presents some important results for cloud-based designing a robot arm by a group of students. Methodology for the cloud-based design was developed and used to initiate interdisciplinary project about research and development of a specific manipulator. The whole project data files were hosted by Ural Federal University data center. The 3D (three-dimensional) model of the robot arm was created using Siemens PLM software (Product Lifecycle Management) and structured as a complex mechatronics product by means of Siemens Teamcenter thin client; all processes were performed in the clouds. The robot arm was designed in purpose to load blanks up to 1 kg into the work space of the milling machine for performing student's researches.

Sensor-based whole-arm obstacle avoidance for unstructured environments

International Nuclear Information System (INIS)

Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Armstrong, G.A.; Britton, C.L. Jr.; Hamel, W.R.

1992-01-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. However, many hazardous environments are unstructured or poorly defined, providing a significant potential for collisions between manipulators and the environment. In order to allow applications of robotics in such situations, a sensing system is under development which will provide protection against collisions. Specifics of this system including system architecture and projected implementation are described

An artificial flexible robot arm based on pneumatic muscle actuators

Directory of Open Access Journals (Sweden)

Renn Jyh-Chyang

2017-01-01

Full Text Available The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs. The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

Science.gov (United States)

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

An innovative approach for modeling and simulation of an automated industrial robotic arm operated electro-pneumatically

Science.gov (United States)

Popa, L.; Popa, V.

2017-08-01

The article is focused on modeling an automated industrial robotic arm operated electro-pneumatically and to simulate the robotic arm operation. It is used the graphic language FBD (Function Block Diagram) to program the robotic arm on Zelio Logic automation. The innovative modeling and simulation procedures are considered specific problems regarding the development of a new type of technical products in the field of robotics. Thus, were identified new applications of a Programmable Logic Controller (PLC) as a specialized computer performing control functions with a variety of high levels of complexit.

The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot

Energy Technology Data Exchange (ETDEWEB)

Lee, Chung Oh; Cho, Hyung Seok; Jang, Pyung Hoon; Park, Ki Chul; Hyun, Jang Hwan; Kim, Joo Gon; Park, Young Joon; Hwang, Woong Tae; Jeon, Yong Soo; Lee, Joo Yeon; Ahn, Kyung Mo [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

1996-07-01

In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form. 33 refs., 3 tabs., 11 figs. (author)

Ping-Pong Robotics with High-Speed Vision System

DEFF Research Database (Denmark)

Li, Hailing; Wu, Haiyan; Lou, Lei

2012-01-01

The performance of vision-based control is usually limited by the low sampling rate of the visual feedback. We address Ping-Pong robotics as a widely studied example which requires high-speed vision for highly dynamic motion control. In order to detect a flying ball accurately and robustly...... of the manipulator are updated iteratively with decreasing error. Experiments are conducted on a 7 degrees of freedom humanoid robot arm. A successful Ping-Pong playing between the robot arm and human is achieved with a high successful rate of 88%....

Implementation of robust adaptive control for robotic manipulator using TMS320C30

International Nuclear Information System (INIS)

Han, S. H.

1996-01-01

A new adaptive digital control scheme for the robotic manipulator is proposed in this paper. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved Lyapunov second stability analysis based on the adaptive feedforward and feedback controller and PI type time-varying control elements. The control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot. (author)

SVM-Based Control System for a Robot Manipulator

Directory of Open Access Journals (Sweden)

Foudil Abdessemed

2012-12-01

Full Text Available Real systems are usually non-linear, ill-defined, have variable parameters and are subject to external disturbances. Modelling these systems is often an approximation of the physical phenomena involved. However, it is from this approximate system of representation that we propose - in this paper - to build a robust control, in the sense that it must ensure low sensitivity towards parameters, uncertainties, variations and external disturbances. The computed torque method is a well-established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose the estimation of the dynamics model of the nonlinear system with a machine learning regression method. The output of this regressor is used in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator. In cases where some of the parameters of the plant undergo a change in their values, poor performance may result. To cope with this drawback, a fuzzy precompensator is inserted to reinforce the SVM computed torque-based controller and avoid any deterioration. The theory is developed and the simulation results are carried out on a two-degree of freedom robot manipulator to demonstrate the validity of the proposed approach.

Optimal arm posture control and tendon traction forces of a coupled tendon-driven manipulator

International Nuclear Information System (INIS)

Ma, Shugen

1997-01-01

In this study, the optimum arm posture of a coupled tendon-driven multijoint manipulator arm (or CT Arm) at maximum payload output was derived and the corresponding tendon traction forces were also analyzed, during management of a heavy payload by the manipulator in a gravity environment. The CT Arm is special tendon traction transmission mechanism in which a pair of tendons used to drive a joint is pulled from base actuators via pulleys mounted on the base-side joints. This mechanism enables optimal utilization of the coupled drive function of tendon traction forces and thus enables the lightweight manipulator to exhibit large payload capability. The properties of the CT Arm mechanism are elucidated by the proposed optimal posture control scheme. Computer simulation was also executed to verify the validity of the proposed control scheme. (author)

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

Bio-mechanical Analysis of Human Joints and Extension of the Study to Robot

OpenAIRE

S. Parasuraman; Ler Shiaw Pei

2008-01-01

In this paper, the bio-mechanical analysis of human joints is carried out and the study is extended to the robot manipulator. This study will first focus on the kinematics of human arm which include the movement of each joint in shoulder, wrist, elbow and finger complexes. Those analyses are then extended to the design of a human robot manipulator. A simulator is built for Direct Kinematics and Inverse Kinematics of human arm. In the simulation of Direct Kinematics, the human joint angles can...

Iterative learning control with sampled-data feedback for robot manipulators

Directory of Open Access Journals (Sweden)

Delchev Kamen

2014-09-01

Full Text Available This paper deals with the improvement of the stability of sampled-data (SD feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more, while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached

Commander manipulator scoops prestigious mulit-million pound BNFL contract

International Nuclear Information System (INIS)

Bailey, Andrew.

1997-01-01

Twenty-one Commander robotic arms are on order from INBIS (formerly Ricardo Hitec) and BNFL Engineering Limited (''BEL'', the engineering arm of parent company BNFL). The multi-million pound contract was won amid fierce competition from other well-known names in robotic engineering. The specially designed Commander manipulators will be engaged in remotely handling Intermediate Level Waste (ILW) in a suite of four BNFL ILW plants, which are currently either under construction or planned at Sellafield. The first Commander will delivered to BNFL's Sellafield Silo Emptying Project in January 1998. (Author)

Master-Slave synchronization of robot manipulators: experimental results

NARCIS (Netherlands)

Bondhus, A.K.; Pettersen, K.Y.; Nijmeijer, H.

2005-01-01

This paper presents experimental results for master-slave synchronization of two robot manipulators using a recently developed observer-controller scheme. The paper aims to investigate the value and the limitations of the theory. In particular, the theoretical result of uniform ultimate boundedness

Using a Robotic Arm to Evaluate the Programming Ability of K-12 Educators

Directory of Open Access Journals (Sweden)

Antoinette Bruciati

2006-12-01

Full Text Available This usability study measured the ability of educators to master advanced computer programming concepts through the OWI Robotic Arm Trainer and PC Interface. Research findings revealed that the lack of prior computer programming experience did not impact the ability of each participant to successfully program his/her robotic arm. However, the absence of a detailed instructional manual detracted from the product

Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

Science.gov (United States)

Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

2015-04-01

Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

Design of a Lightweight Soft Robotic Arm Using Pneumatic Artificial Muscles and Inflatable Sleeves.

Science.gov (United States)

Ohta, Preston; Valle, Luis; King, Jonathan; Low, Kevin; Yi, Jaehyun; Atkeson, Christopher G; Park, Yong-Lae

2018-04-01

As robots begin to interact with humans and operate in human environments, safety becomes a major concern. Conventional robots, although reliable and consistent, can cause injury to anyone within its range of motion. Soft robotics, wherein systems are made to be soft and mechanically compliant, are thus a promising alternative due to their lightweight nature and ability to cushion impacts, but current designs often sacrifice accuracy and usefulness for safety. We, therefore, have developed a bioinspired robotic arm combining elements of rigid and soft robotics such that it exhibits the positive qualities of both, namely compliance and accuracy, while maintaining a low weight. This article describes the design of a robotic arm-wrist-hand system with seven degrees of freedom (DOFs). The shoulder and elbow each has two DOFs for two perpendicular rotational motions on each joint, and the hand has two DOFs for wrist rotations and one DOF for a grasp motion. The arm is pneumatically powered using custom-built McKibben type pneumatic artificial muscles, which are inflated and deflated using binary and proportional valves. The wrist and hand motions are actuated through servomotors. In addition to the actuators, the arm is equipped with a potentiometer in each joint for detecting joint angle changes. Simulation and experimental results for closed-loop position control are also presented in the article.

High degree-of-freedom dynamic manipulation

Science.gov (United States)

Murphy, Michael P.; Stephens, Benjamin; Abe, Yeuhi; Rizzi, Alfred A.

2012-06-01

The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

Control of a high precision macro-micro robotic manipulator system

International Nuclear Information System (INIS)

Cho, Whang

1997-01-01

A controller for macro-micro robotic manipulator system in which kinematically independent two robotic sub-systems work together to improve the accuracy of the motion is proposed. A nonlinear feedback linearization scheme is employed as basic architecture for the controller and additional formulations about the controller structure are made to assure the robustness of the overall control action and to restrict the motion of micro sub-system close to its nominal position without causing saturation of joint associated with micro-robot. (author)

Optimum Design of Multi-Function Robot Arm Gripper for Varying Shape Green Product

Directory of Open Access Journals (Sweden)

Razali Zol Bahri

2016-01-01

Full Text Available The project focuses on thorough experimentally studies of the optimum design of Multi-function Robot Arm Gripper for varying shape green product. The purpose of this project is to design a few of robot arm gripper for multi-functionally grip a green product with varying shape. The main character of the gripper is that it can automated adjust its finger to suit with the shape of the product. An optimum design of multi-function robot arm gripper is verified through experimental study. The expected result is a series of analytical results on the proposal of gripper design and material that will be selected for the gripper. The analysis of the gripper design proposal by using ANSYS and CATIA software is described in detail in this paper.

Effect of robotic manipulation on unidirectional barbed suture integrity: evaluation of tensile strength and sliding force.

Science.gov (United States)

Kaushik, Dharam; Clay, Kevin; Hossain, S G M; Park, Eugene; Nelson, Carl A; LaGrange, Chad A

2012-06-01

One of the more challenging portions of robot-assisted radical prostatectomy (RARP) is the urethrovesical anastomosis. Because of this, a unidirectional absorbable barbed suture (V-Loc(™)) has been used to complete the anastomosis with better efficiency and less tension. The effect of robotic needle driver manipulation on barbed suture is unknown. Therefore, the aim of this study is to determine whether robotic manipulation decreases the tensile strength and peak sliding force of V-Loc barbed suture. Fifty-six V-Loc sutures were compared with 56 Maxon sutures. All sutures were 3-0 caliber. Half of the sutures in each group were manipulated with a da Vinci(®) robot large needle driver five times over a 5 cm length of suture. The other half was not manipulated. Breaking force was determined by placing sutures in a Bose ElectroForce load testing device. For sliding force testing, 28 V-Loc sutures were manipulated in the same fashion and compared with 28 nonmanipulated V-Loc sutures. Peak force needed to make the suture slip backward in porcine small intestine was determined to be the sliding force. Scanning electron microscopy of the barbs before and after robotic manipulation was also performed. The mean difference in breaking forces for manipulated vs nonmanipulated Maxon sutures was 4.52 N (P=0.004). The mean difference in breaking forces for manipulated vs nonmanipulated V-Loc sutures was 1.30 N (P=0.046). The manipulated V-Loc group demonstrated a lower peak sliding force compared with the nonmanipulated group (0.76 vs 0.88 N, P=0.199). Electron microscopy revealed minor structural damage to the barbs and suture. Tensile strength and peak sliding force of V-Loc suture is decreased by robotic manipulation. This is likely because of structural damage to the suture and barbs. This structural damage, however, is likely not clinically significant.

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

Science.gov (United States)

Lee, J.; Kim, K.

1991-01-01

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

Science.gov (United States)

Lee, J.; Kim, K.

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

Directory of Open Access Journals (Sweden)

Bui Thi Hai Linh

2015-01-01

Full Text Available When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.

Planning Robotic Manipulation Strategies for Sliding Objects

Science.gov (United States)

Peshkin, Michael A.

Automated planning of grasping or manipulation requires an understanding of both the physics and the geometry of manipulation, and a representation of that knowledge which facilitates the search for successful strategies. We consider manipulation on a level conveyor belt or tabletop, on which a part may slide when touched by a robot. Manipulation plans for a given part must succeed in the face of two types of uncertainty: that of the details of surfaces in contact, and that of the initial configuration of the part. In general the points of contact between the part and the surface it slides on will be unknown, so the motion of the part in response to a push cannot be predicted exactly. Using a simple variational principle (which is derived), we find the set of possible motions of a part for a given push, for all collections of points of contact. The answer emerges as a locus of centers of rotation (CORs). Manipulation plans made using this locus will succeed despite unknown details of contact. Results of experimental tests of the COR loci are presented. Uncertainty in the initial configuration of a part is usually also present. To plan in the presence of uncertainty, configuration maps are defined, which map all configurations of a part before an elementary operation to all possible outcomes, thus encapsulating the physics and geometry of the operation. The configuration map for an operation sequence is a product of configuration maps of elementary operations. Using COR loci we compute configuration maps for elementary sliding operations. Appropriate search techniques are applied to find operation sequences which succeed in the presence of uncertainty in the initial configuration and unknown details of contact. Such operation sequences may be used as parts feeder designs or as manipulation or grasping strategies for robots. As an example we demonstrate the automated design of a class of passive parts feeders consisting of multiple sequential fences across a conveyor

Grasping and Placing Operation for Labware Transportation in Life Science Laboratories using Mobile Robots

Directory of Open Access Journals (Sweden)

Mohammed Myasar Ali

2017-07-01

Full Text Available In automated working environments, mobile robots can be used for different purposes such as material handling, domestic services, and objects transportation. This work presents a grasping and placing operation for multiple labware and tube racks in life science laboratories using the H20 mobile robots. The H20 robot has dual arms where each arm consists of 6 revolute joints with 6-DOF and 2-DOF grippers. The labware, which have to be manipulated and transported, contain chemical and biological components. Therefore, an accurate approach for object recognition and position estimation is required. The recognition and pose estimation of the desired objects are very essential to guide the robotic arm in the manipulation tasks. In this work, the problem statement of H20 transportation system with the proposed methodology are presented. Different strategies (visual and non-visual of labware manipulation using mobile robots are described. The H20 robot is equipped with a Kinect V2 sensor to identify and estimate the position of the target. The local features recognition based on SURF algorithm (Speeded-Up Robust Features is used. The recognition process is performed for the required labware and holder to perform the grasping and placing operation. A strategy is proposed to find the required holder and to check its emptiness for the placing tasks. Different styles of grippers and labware containers are used to manipulate different weights of labware and to realize a safe transportation. The parts of mobile robot transportation system are communicated with each other using Asynchronous socket Channels.

Dual Arm Work Module Development and Appplications

Energy Technology Data Exchange (ETDEWEB)

Noakes, M.W.

1999-04-25

The dual arm work module (DAWM) was developed at Oak Ridge National Laboratory (ORNL) by the Robotics Technology Development Program (RTDP) as a development test bed to study issues related to dual arm manipulation, including platform cotilguration, controls, automation, operations, and tooling. The original platform was based on two Schilling Titan II manipulators mounted to a 5-degree-of- freedom (DOF) base fabricated by RedZone Robotics, Inc. The 5-DOF articulation provided a center torso rotation, linear actuation to change the separation between the arms, and arm base rotation joints to provide "elbows up," elbows down," or "elbows out" orientation. A series of tests were conducted on operations, tooling, and task space scene analysis (TSSA)-driven robotics for overhead transporter- mounted and crane hook-deployed scenarios. A concept was developed for DAWM deployment from a large remote work vehicle, but the project was redirected to support dismantlement of the Chicago Pile #5 (CP-5) reactor at Argonne National Laboratory in fiscal year (FY) 1997. Support of CP-5 required a change in focus of the dual arm technology from that of a development test bed to a system focussed for a specific end user. ORNL teamed with the Idaho National Environmental ,Engineering Laboratory, Sandia National Laboratory, and the Savannah River Technology Center to deliver a crane-deployed derivative of the DAWM, designated the dual arm work platform (DAWP). RTDP staff supported DAWP at CP-5 for one FY; Argonne staff continued operation through to dismantlement of the reactor internals. Lessons learned from this interaction were extensive. Beginning in FY 1999, dual arm development activities are again being pursued in the context of those lessons learned. This paper describes the progression of philosophy of the DAWM from initial test bed to lessons learned through interaction at CP-5 and to the present investigation of telerobotic assist of teleoperation and TSSA- driven robotics.

Robotic Arm Control Algorithm Based on Stereo Vision Using RoboRealm Vision

Directory of Open Access Journals (Sweden)

SZABO, R.

2015-05-01

Full Text Available The goal of this paper is to present a stereo computer vision algorithm intended to control a robotic arm. Specific points on the robot joints are marked and recognized in the software. Using a dedicated set of mathematic equations, the movement of the robot is continuously computed and monitored with webcams. Positioning error is finally analyzed.

MOVEMENT SIMULATION OF THREE ARMED ROBOT BY BEING USED AutoLISP

Directory of Open Access Journals (Sweden)

Mustafa BOZDEMİR

2000-01-01

Full Text Available Development of a suitable robot for desired aim and duty is very important for design enginers. On the other hand, designed robots may be unsuccesful in functioning inspite of many efforts. For this reason, before the production of considered robot systems, having prepared a simulation program, investigation of work field, getting done path plan and mistakes could be eliminated before robot production. In this study, movement simulation of a three armed robot has been realized by using AutoLIPS programing language which is supplied with AutoCAD. Analytical and matrix solution methods have been used in simulation equations.

Sensor-based whole-arm obstacle avoidance for unstructured environments

International Nuclear Information System (INIS)

Wintenberg, AL.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.; Hamel, W.R.

1992-01-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined work spaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER ampersand WM program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. A sensing system under development, which will provide protection against such collisions, is described in this paper

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

Full Text Available Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS is used to autonomously grasp an object from the bottom of a water tank.

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Design optimization on the drive train of a light-weight robotic arm

DEFF Research Database (Denmark)

Zhou, Lelai; Bai, Shaoping; Hansen, Michael Rygaard

2011-01-01

A drive train optimization method for design of light-weight robots is proposed. Optimal selections of motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm. Characteristics of the motor and gearbox, including gear...... ratio, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. A co-simulation method is developed for dynamic simulation of the arm. A design example is included to demonstrate the proposed design optimization method....

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

Conceptual design of an in-vessel inspection robotic system for Tokamak environment

International Nuclear Information System (INIS)

Kumar, Prabhat; Raju, Daniel; Ranjan, Vaibhav; Patel, Prateek; Dave, Jatinkumar; Naik, Mehul

2013-01-01

An in-vessel inspection robotic system has been conceptualized for operation inside a tokamak vessel. The robotic system is envisaged to comprise of a robotic arm, end-effector, microcontroller and wireless communication system. The end-effector is envisaged to be a special purpose camera for in-situ inspection between plasma shots. The three-link robotic arm, designed for ITER-like environment, has 4 revolute joints- 3 providing manipulation in poloidal plane and the fourth one providing limited movement in adjacent toroidal planes. This paper provides the conceptual design of the system along with kinematic analysis of robotic arm. Solutions have been derived for forward and inverse kinematic models and the Jacobian matrix for the robotic arm linkage. In forward kinematic model, given a set of joint-link parameters, the position and orientation of end-effector are determined with respect to a reference frame. In inverse kinematic model, given the specified position and orientation of end-effector with respect to a reference frame, a set of joint variables are derived that would bring the end-effector into the required posture. Using Jacobian matrix, the relation between the end-effector velocity and the joint velocity of a manipulator is obtained i.e. given the individual joint velocity; the end-effector velocity is obtained. A CAD model has been generated using CATIA to simulate the kinematic model and carry out computational stress analysis. (author)

Exploring Ackermann and LQR stability control of stochastic state-space model of hexacopter equipped with robotic arm

Science.gov (United States)

Ibrahim, I. N.; Akkad, M. A. Al; Abramov, I. V.

2018-05-01

This paper discusses the control of Unmanned Aerial Vehicles (UAVs) for active interaction and manipulation of objects. The manipulator motion with an unknown payload was analysed concerning force and moment disturbances, which influence the mass distribution, and the centre of gravity (CG). Therefore, a general dynamics mathematical model of a hexacopter was formulated where a stochastic state-space model was extracted in order to build anti-disturbance controllers. Based on the compound pendulum method, the disturbances model that simulates the robotic arm with a payload was inserted into the stochastic model. This study investigates two types of controllers in order to study the stability of a hexacopter. A controller based on Ackermann’s method and the other - on the linear quadratic regulator (LQR) approach - were presented. The latter constitutes a challenge for UAV control performance especially with the presence of uncertainties and disturbances.

A combined impedance-PD approach for controlling a dual-arm space manipulator in the capture of a non-cooperative target

Science.gov (United States)

Stolfi, A.; Gasbarri, P.; Sabatini, M.

2017-10-01

In the near future robotic systems will be playing an increasingly important role in space applications such as repairing, refueling, re-orbiting spacecraft and cleaning up the increasing amount of space debris. Space Manipulator Systems (SMSs) are robotic systems made of a platform (which has its own actuators such as thrusters and reaction wheels) equipped with one or more deployable arms. The present paper focuses on the issue of maintaining a stable first contact between the arms terminal parts (i.e. the end-effectors) and a target satellite, before the actual grasp is performed. The selected approach is a modified version of the Impedance Control algorithm, in which the end-effector is controlled in order to make it behave like a mass-spring-damper system regardless of the reaction motion of the base, so to absorb the impact energy. The usual approach consists in considering a point mass target and one-dimensional contact dynamics; however, the contact between the chaser and the target could generate a perturbation on the attitude of the target. On account of this, in the present work a more realistic scenario, consisting in a 2D rigid target and a relevant 2D contact dynamics, is considered. A two-arm configuration of the SMS is modelled and its effectiveness analyzed. The performance of the proposed control architecture is evaluated by means of a co-simulation involving the MSC Adams multibody code (for describing the dynamics of the space robot and target) together with Simulink (for the determination of the control actions). The co-simulation is a particularly useful tool to implement robust control applied to detailed dynamic systems. Several numerical results complete the work.

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)

Science.gov (United States)

Dülger, L. Canan; Kapucu, Sadettin

2016-01-01

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles. PMID:27610129

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242).

Science.gov (United States)

Almusawi, Ahmed R J; Dülger, L Canan; Kapucu, Sadettin

2016-01-01

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles.

Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations, and then is linea......This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations......, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size...... manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies....

High effective inverse dynamics modelling for dual-arm robot

Science.gov (United States)

Shen, Haoyu; Liu, Yanli; Wu, Hongtao

2018-05-01

To deal with the problem of inverse dynamics modelling for dual arm robot, a recursive inverse dynamics modelling method based on decoupled natural orthogonal complement is presented. In this model, the concepts and methods of Decoupled Natural Orthogonal Complement matrices are used to eliminate the constraint forces in the Newton-Euler kinematic equations, and the screws is used to express the kinematic and dynamics variables. On this basis, the paper has developed a special simulation program with symbol software of Mathematica and conducted a simulation research on the a dual-arm robot. Simulation results show that the proposed method based on decoupled natural orthogonal complement can save an enormous amount of CPU time that was spent in computing compared with the recursive Newton-Euler kinematic equations and the results is correct and reasonable, which can verify the reliability and efficiency of the method.

Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters; Uso de un manipulador robotico en la simulacion de la automatizacion de un proceso de calibracion de dosimetros

Energy Technology Data Exchange (ETDEWEB)

Benitez R, J S; Najera H, M C [Instituto Nacional de Investigaciones Nucleares, A.P. 18-1027, 11801 Mexico D.F. (Mexico)

2002-07-01

The development of a system based in a manipulative robot which simulates the operative sequence in a calibration process of dosemeters is presented. In this process it is performed the monitoring of the dosemeter positions and the calibrator by mean of an arm of articulated robot which develops the movement sequences and the taking a decision based on the information coming from the external sensors. (Author)

Managing the backscatter component from the robotic arm of an a-Si EPID

International Nuclear Information System (INIS)

Lee, C.G.; Menk, F.; Greer, P.B.

2010-01-01

Full text: Backscatter from the robotic arm mechanism of an a-Si EPID in IMRT images was examined. Images corrected with a conventional flood field (FF) containing a backscatter component (BSC) from the robotic ann were compared with a BSC-free FF. A Yarian 21 EX linac (6 MV, 18 MV) was used. All images were acquired with two aS500 EPIDs, one R-arm and one E-arm. The BSC of an EPID image is the ratio of an image acquired with the EPID attached to the arm then detaching the arm from the EPID and acquiring the same image. A range of square field sizes from 2.5 x 2.5 cm to 27.5 x 27.5 cm were acquired and the BSC analyzed. The BSC of the FFs were also measured. A series of IMRT fields were acquired. Each field was corrected with a conventional FF and compared with a BSC-free FF. Figure I shows the magnitude of the BSC from each arm in the inplane for a 6 x beam. Square fields above 16 x l6 cm (R-arm) and lO x 10 cm (E-arm) benefited from a conventional FF as it tended to cancel out the BSC in the acquired square field. The opposite was observed for smaller field sizes. A gamma analysis of the IMRT fields showed a FF correction containing a BSC reduces the effect of the arm in the final image. IMRT EPID images using conventional FFs have been shown to be less affected by backscatter from the robotic arm compared to BSC-free flood fields. (author)

Effect of Link Flexibility on tip position of a single link robotic arm

Science.gov (United States)

Madhusudan Raju, E.; Siva Rama Krishna, L.; Mouli, Y. Sharath Chandra; Nageswara Rao, V.

2015-12-01

The flexible robots are widely used in space applications due to their quick response, lower energy consumption, lower overall mass and operation at high speed compared to conventional industrial rigid link robots. These robots are inherently flexible, so that the kinematics of flexible robots can't be solved with rigid body assumptions. The flexibility in links and joints affects end-point positioning accuracy of the robot. It is important to model the link kinematics with precision which in turn simplifies modelling of dynamics of flexible robots. The main objective of this paper is to evaluate the effect of link flexibility on a tip position of a single link robotic arm for a given motion. The joint is assumed to be rigid and only link flexibility is considered. The kinematics of flexible link problem is evaluated by Assumed Modes Method (AMM) using MAT LAB Programming. To evaluate the effect of link flexibility (with and without payload) of robotic arm, the normalized tip deviation is found for flexible link with respect to a rigid link. Finally, the limiting inertia for payload mass is found if the allowable tip deviation is 5%.

Parametric Approach to Trajectory Tracking Control of Robot Manipulators

Directory of Open Access Journals (Sweden)

Shijie Zhang

2013-01-01

Full Text Available The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.

In-Situ Operations and Planning for the Mars Science Laboratory Robotic Arm: The First 200 Sols

Science.gov (United States)

Robinson, M.; Collins, C.; Leger, P.; Carsten, J.; Tompkins, V.; Hartman, F.; Yen, J.

2013-01-01

The Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or loose regolith targets. The RA has supported sample acquisition using both the scoop and drill, sample processing with CHIMRA (Collection and Handling for In- Situ Martian Rock Analysis), and delivery of sample portions to the observation tray, and the SAM (Sample Analysis at Mars) and CHEMIN (Chemistry and Mineralogy) science instruments. This paper describes the planning and execution of robotic arm activities during surface operations, and reviews robotic arm performance results from Mars to date.

Hand-held transendoscopic robotic manipulators: A transurethral laser prostate surgery case study.

Science.gov (United States)

Hendrick, Richard J; Mitchell, Christopher R; Herrell, S Duke; Webster, Robert J

2015-11-01

Natural orifice endoscopic surgery can enable incisionless approaches, but a major challenge is the lack of small and dexterous instrumentation. Surgical robots have the potential to meet this need yet often disrupt the clinical workflow. Hand-held robots that combine thin manipulators and endoscopes have the potential to address this by integrating seamlessly into the clinical workflow and enhancing dexterity. As a case study illustrating the potential of this approach, we describe a hand-held robotic system that passes two concentric tube manipulators through a 5 mm port in a rigid endoscope for transurethral laser prostate surgery. This system is intended to catalyze the use of a clinically superior, yet rarely attempted, procedure for benign prostatic hyperplasia. This paper describes system design and experiments to evaluate the surgeon's functional workspace and accuracy using the robot. Phantom and cadaver experiments demonstrate successful completion of the target procedure via prostate lobe resection.

Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

Directory of Open Access Journals (Sweden)

Jörg Stückler

2016-11-01

Full Text Available Cognitive service robots that shall assist persons in need in performing their activities of daily living have recently received much attention in robotics research.Such robots require a vast set of control and perception capabilities to provide useful assistance through mobile manipulation and human-robot interaction.In this article, we present hardware design, perception, and control methods for our cognitive service robot Cosero.We complement autonomous capabilities with handheld teleoperation interfaces on three levels of autonomy.The robot demonstrated various advanced skills, including the use of tools.With our robot we participated in the annual international RoboCup@Home competitions, winning them three times in a row.

Mobile robots for the nuclear industry - A 1990 status report

International Nuclear Information System (INIS)

Meieran, H.B.

1990-01-01

Mobile robots with and without manipulating arms have been available for use in radioactive environments for almost 30 yr. Their use commenced in the early 1960s with a family of mobile robots manufactured by the PAR Corporation (now the PAR division of CIMCORP). It was a tethered, two-tracked teleoperator-controlled vehicle that supported one master-slave manipulating arm. The durability of this device is continuing to be demonstrated by HERMAN, which is currently on standby availability at the Oak Ridge National Laboratory (ORNL) to respond to emergency situations by supporting mitigating actions at scenes of incidents that involve the release of radioactive material. Mobile robots are being employed in a spectrum of locations in many reactors and other nuclear installations. This paper presents the current status of the use of mobile robots in the nuclear industry and describes currently contemplated missions, with examples, that are being or will be conducted on terrestrial surfaces, underwater, in pipeline locations, and through the air

Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

Directory of Open Access Journals (Sweden)

Ikhsan Eka Prasetia

2015-03-01

Full Text Available In this paper, the forward kinematics and inverse kinematics used on the Denso robot manipulator which has a 6-DOF. The forward kinematics will result in the desired position by end-effector, while inverse kinematics produce angel on each joint. Inverse kinematics problem are very difficult, therefor to obtain the solution of inverse kinematics using closed form solution with geometry approach. The simulation result obtained from forward kinematics and inverse kinematics is determining desired position by Denso robot manipulator. Forward kinematics produce the desired position by the end-effector. Inverse kinematics produce joint angle, where the inverse kinematics produce eight conditions obtained from closed form solution with geometry approach to reach the desired position by the end-effector.

Low-Inertia STEM Arm (LISA) Manipulators for Assistive Free-Flyers, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Altius Space Machines proposes the development of lightweight robotic manipulators, that utilize rollable composite STEM booms to provide a prismatic...

Kinematic parameter calibration method for industrial robot manipulator using the relative position

International Nuclear Information System (INIS)

Ha, In Chul

2008-01-01

A new calibration method for industrial robot system calibration on a manufacturing floor is presented in this paper. To calibrate the robot system, a laser sensor to measure the distance between robot tool and measurement surface is attached to the robot end-effector and a grid is established in the floor. Given two position command pulses for a robot manipulator and using the position difference between two command pulses, the relative position measurement calibration method will find the real robot kinematic parameters. The procedures developed have been applied to an industrial robot. Finally, the effects of the models used to calibrate the robot are discussed. This calibration method represents an effective, low cost and feasible technique for the industrial robot calibration in lab. projects and industrial environments

Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning.

Science.gov (United States)

Giannaccini, Maria Elena; Xiang, Chaoqun; Atyabi, Adham; Theodoridis, Theo; Nefti-Meziani, Samia; Davis, Steve

2018-02-01

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design presented in this article successfully decouples its end-effector positioning from its stiffness. An experimental characterization of this ability is coupled with a mathematical analysis. The arm combines the light weight, high payload to weight ratio and robustness of pneumatic actuation with the adaptability and versatility of variable stiffness. Light weight is a vital component of the inherent safety approach to physical human-robot interaction. To characterize the arm, a neural network analysis of the curvature of the arm for different input pressures is performed. The curvature-pressure relationship is also characterized experimentally.

Right-Arm Robotic-Aided-Therapy with the Light-Exoskeleton: A General Overview

Science.gov (United States)

Lugo-Villeda, Luis I.; Frisoli, Antonio; Sotgiu, Edoardo; Greco, Giovanni; Bergamasco, Massimo

Rehabilitation robotics applications and their developments have been spreading out as consequences of the actual needs in the human activities of daily living (ADL). Exoskeletons for rehabilitation are one of them, whose intrinsic characteristics are quite useful for applications where repetitive, robustness and accurate performance are a must. As a part of robotic-mediated-rehabilitation programme into the worldwide, the exoskeletons are trying to improve the ADL of disable people through the fusion of several disciplines that lets to expand the capabilities of wearing a powered robotic exoskeletal device for rehabilitation tasks. This fact deserves to present this contribution from a general scope point of view, i.e., the technologies integration and its associated knowledge. So far, the Light-Exoskeleton which is intended for human arm rehabilitation in post-stroke patients is introduced. Preliminary experimental results as well as the involved stages about the system show the capabilities of using a robotic-constrained-rehabilitation for human arm.

Uncertainty analysis and allocation of joint tolerances in robot manipulators based on interval analysis

International Nuclear Information System (INIS)

Wu Weidong; Rao, S.S.

2007-01-01

Many uncertain factors influence the accuracy and repeatability of robots. These factors include manufacturing and assembly tolerances and deviations in actuators and controllers. The effects of these uncertain factors must be carefully analyzed to obtain a clear insight into the manipulator performance. In order to ensure the position and orientation accuracy of a robot end effector as well as to reduce the manufacturing cost of the robot, it is necessary to quantify the influence of the uncertain factors and optimally allocate the tolerances. This involves a study of the direct and inverse kinematics of robot end effectors in the presence of uncertain factors. This paper focuses on the optimal allocation of joint tolerances with consideration of the positional and directional errors of the robot end effector and the manufacturing cost. The interval analysis is used for predicting errors in the performance of robot manipulators. The Stanford manipulator is considered for illustration. The unknown joint variables are modeled as interval parameters due to the inherent uncertainty. The cost-tolerance model is assumed to be of an exponential form during optimization. The effects of the upper bounds on the minimum cost and relative deviations of the directional and positional errors of the end effector are also studied

Reach and grasp by people with tetraplegia using a neurally controlled robotic arm

Science.gov (United States)

Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; Donoghue, John P.

2012-01-01

Paralysis following spinal cord injury (SCI), brainstem stroke, amyotrophic lateral sclerosis (ALS) and other disorders can disconnect the brain from the body, eliminating the ability to carry out volitional movements. A neural interface system (NIS)1–5 could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with longstanding tetraplegia can use an NIS to move and click a computer cursor and to control physical devices6–8. Able-bodied monkeys have used an NIS to control a robotic arm9, but it is unknown whether people with profound upper extremity paralysis or limb loss could use cortical neuronal ensemble signals to direct useful arm actions. Here, we demonstrate the ability of two people with long-standing tetraplegia to use NIS-based control of a robotic arm to perform three-dimensional reach and grasp movements. Participants controlled the arm over a broad space without explicit training, using signals decoded from a small, local population of motor cortex (MI) neurons recorded from a 96-channel microelectrode array. One of the study participants, implanted with the sensor five years earlier, also used a robotic arm to drink coffee from a bottle. While robotic reach and grasp actions were not as fast or accurate as those of an able-bodied person, our results demonstrate the feasibility for people with tetraplegia, years after CNS injury, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals. PMID:22596161

Robotic design analysis based on teleoperated manipulator data collection

International Nuclear Information System (INIS)

Stoughton, R.S.; Martin, H.L.

1985-01-01

Extensive data collection was performed on a servomanipulator system (TeleOperator Systems SM-229) to determine the motion range and mechanical power usage of the manipulator under direct human control. More than 50 hours of various manipulation operations were performed while joint positions and motor currents were recorded. Reduction of these data yielded histograms of the manipulator usage patterns revealing areas where future manipulator motion ranges and drive systems could be optimized. This report develops a graphical representation of mechanical power usage that relates torque and velocity to the total usage time. Methods of interpreting this representation are discussed and generalized for use in analyzing robotic systems. The resulting technique will allow designers to reevaluate an operating system and determine how to improve that system's design

Manual input device for controlling a robot arm

International Nuclear Information System (INIS)

Fischer, P.J.; Siva, K.V.

1990-01-01

A six-axis input device, eg joystick, is supported by a mechanism which enables the joystick to be aligned with any desired orientation, eg parallel to the tool. The mechanism can then be locked to provide a rigid support of the joystick. The mechanism may include three pivotal joints whose axes are perpendicular, each incorporating a clutch. The clutches may be electromagnetic or mechanical and may be operable jointly or independently. The robot arm comprises a base rotatable about a vertical axis, an upper arm, a forearm and a tool or grip rotatable about three perpendicular axes relative to the forearm. (author)

Multi-fingered robotic hand

Science.gov (United States)

Ruoff, Carl F. (Inventor); Salisbury, Kenneth, Jr. (Inventor)

1990-01-01

A robotic hand is presented having a plurality of fingers, each having a plurality of joints pivotally connected one to the other. Actuators are connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is covering of the tip of each finger with a resilient and pliable friction enhancing surface.

Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot

Directory of Open Access Journals (Sweden)

Yong Tao

2014-06-01

Full Text Available We presented the kinematical analysis of a 4-DOF hybrid palletizing robot. The palletizing robot structure was proposed and the arm model of the robot was presented. The kinematical analysis of the end robotic manipulator was given. As a result, the position, velocity, and acceleration curves as well as the maximum workspace were demonstrated by simulation in Matlab. This study would be useful for the kinematical characteristics of the 4-DOF palletizing robot in space.

Whole-arm obstacle avoidance system conceptual design

International Nuclear Information System (INIS)

Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.

1993-04-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER ampersand WM Program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. The conceptual design for a sensing system that will provide protection against such collisions is described herein. The whole-arm obstacle avoidance system consists of a set of sensor ''bracelets,'' which cover the surface area of the manipulator links to the maximum extent practical, and a host processor. The host processor accepts commands from the robot control system, controls the operation of the sensors, manipulates data received from the bracelets, and makes the data available to the manipulator control system. The bracelets consist of a subset of the sensors, associated sensor interface electronics, and a bracelet interface. Redundant communications links between the host processor and the bracelets are provided, allowing single-point failure protection. The system allows reporting of 8-bit data from up to 1000 sensors at a minimum of 50 Hz. While the initial prototype implementation of the system utilizes capacitance proximity sensor, the system concept allows multiple types of sensors. These sensors are uniquely addressable, allowing remote calibration, thresholding at the bracelet, and correlation of a sensor measurement with the associated sensor and its location on the manipulator. Variable resolution allows high-speed, single-bit sensing as well as lower-speed higher-resolution sensing, which is necessary for sensor calibration and potentially useful in control

Development of a multisensory arm for process monitoring in Robot Assisted Polishing

DEFF Research Database (Denmark)

Pilny, Lukas; Dalla Costa, Giuseppe; Bissacco, Giuliano

2015-01-01

A multisensory polishing arm with integrated three component force sensor, a miniature acoustic emission (AE) sensor and an accelerometer was developed for process monitoring in Robot Assisted Polishing (RAP) process. The arm design was optimized for integration of a force and an AE sensor. The f...

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242

Directory of Open Access Journals (Sweden)

Ahmed R. J. Almusawi

2016-01-01

Full Text Available This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.

Design a Fuzzy Logic Controller for a Rotary Flexible Joint Robotic Arm

Directory of Open Access Journals (Sweden)

Jalani Jamaludin

2018-01-01

Full Text Available The purpose of this research is to design a fuzzy logic feedback controller (FLC in order to control a desired tip angle position a rotary flexible joint robotic arm. The FLC is also employed to dampen the vibration emanated from a rotary flexible joint robotic arm when reaching a desired tip angle position. The performance of FLC is tested in simulation and experiment. It is found that the FLC is successfully designed, applied and tested. The results show that fuzzy logic controller performed satisfactorily control a desired tip angle position and reduce the oscillations.

The design of robust independence multivariable controller for robot manipulator using inverse dynamics

International Nuclear Information System (INIS)

Han, Sung Hyun

1993-01-01

This paper proposes a new approach to the design of multivariable control schemes for assembly robot manipulator to achieve accuracy trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and a feedback controller. In this control scheme, the feedback controller is proportional integral-derivative type and is designed to achieve the pole placement. The feedforward controller is the inverse of the linealized model of robot manipulator dynamics. The feedback controller ensures that each joint tracks any reference trajectory. The proposed robot controller scheme has a computationally efficient schemes for either offline gain scheduling or online gain computation to account for variations in the linealized robot dynamic model due to changes in operating point. The simulation results demonstrate that the proposed control schemesperporms remarkably well for parameter uncertainties and load variations. (Author)

A robotic C-arm cone beam CT system for image-guided proton therapy: design and performance.

Science.gov (United States)

Hua, Chiaho; Yao, Weiguang; Kidani, Takao; Tomida, Kazuo; Ozawa, Saori; Nishimura, Takenori; Fujisawa, Tatsuya; Shinagawa, Ryousuke; Merchant, Thomas E

2017-11-01

A ceiling-mounted robotic C-arm cone beam CT (CBCT) system was developed for use with a 190° proton gantry system and a 6-degree-of-freedom robotic patient positioner. We report on the mechanical design, system accuracy, image quality, image guidance accuracy, imaging dose, workflow, safety and collision-avoidance. The robotic CBCT system couples a rotating C-ring to the C-arm concentrically with a kV X-ray tube and a flat-panel imager mounted to the C-ring. CBCT images are acquired with flex correction and maximally 360° rotation for a 53 cm field of view. The system was designed for clinical use with three imaging locations. Anthropomorphic phantoms were imaged to evaluate the image guidance accuracy. The position accuracy and repeatability of the robotic C-arm was high (robotic CBCT system provides high-accuracy volumetric image guidance for proton therapy. Advances in knowledge: Ceiling-mounted robotic CBCT provides a viable option than CT on-rails for partial gantry and fixed-beam proton systems with the added advantage of acquiring images at the treatment isocentre.

Study Of Robotic Replacement Of Equipment Modules

Science.gov (United States)

Backes, Paul G.; Tso, Kam S.

1992-01-01

Report discusses issues pertaining to control of single-arm robotic manipulator to remove and install interchangeable equipment modules. Presents preliminary control strategy intended to guide development of control algorithms, along with analyses of problems arising in implementing strategy.

ROBOT LEARNING OF OBJECT MANIPULATION TASK ACTIONS FROM HUMAN DEMONSTRATIONS

Directory of Open Access Journals (Sweden)

Maria Kyrarini

2017-08-01

Full Text Available Robot learning from demonstration is a method which enables robots to learn in a similar way as humans. In this paper, a framework that enables robots to learn from multiple human demonstrations via kinesthetic teaching is presented. The subject of learning is a high-level sequence of actions, as well as the low-level trajectories necessary to be followed by the robot to perform the object manipulation task. The multiple human demonstrations are recorded and only the most similar demonstrations are selected for robot learning. The high-level learning module identifies the sequence of actions of the demonstrated task. Using Dynamic Time Warping (DTW and Gaussian Mixture Model (GMM, the model of demonstrated trajectories is learned. The learned trajectory is generated by Gaussian mixture regression (GMR from the learned Gaussian mixture model.  In online working phase, the sequence of actions is identified and experimental results show that the robot performs the learned task successfully.

Recent Advances in Liquid Metal Manipulation toward Soft Robotics and Biotechnologies.

Science.gov (United States)

Yu, Yue; Miyako, Eijiro

2018-04-06

Interest has grown significantly in the field of soft robotics, which seeks to develop machinery capable of duplicating the elastic and rheological properties of typically polymeric or elastomeric biological tissues and organs. As a result of a number of unique properties, gallium-based liquid metals (LMs) are emerging as materials used in the forefront of soft robotics research. Finding methods to enable the sophisticated manipulation of LMs will be essential for further progress in the field. This review provides a critical discussion of the manipulation of LMs and on important biotechnological applications of LMs including microfluidics, healthcare devices, biomaterials, and nanomedicines. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

USING OF ROBOTS-MANIPULATORS IN LABORATORY WORKS IN HIGHER EDUCATION INSTITUTES

Directory of Open Access Journals (Sweden)

Viktor Yehorov

2017-05-01

Full Text Available Studying of technical disciplines in higher education institution as a rule consists of 2 parts – theories and practice. Practice, is a type of educational process which allows to realize theoretical knowledge to the applied sphere. In particular it allows to provide an object visually, creating its image and visually adequate perception. This work is devoted to development of laboratory base of technical college with use of robots manipulators on occupations. Its relevance is shown. The overview of modern stands is provided in different higher education institutions, the analysis of their benefits and shortcomings is this. The task of creation of the robot manipulator for sorting of objects of color is set. The robot model including an automatic management system it is developed. The sensor of color, the regulator and the executive mechanism allowing to move objects to the corresponding reservoirs is its part. Possibilities of further development of a question, in particular, creations of physical model for use are given in laboratory works.

USING OF ROBOTS-MANIPULATORS IN LABORATORY WORKS IN HIGHER EDUCATION INSTITUTES

Directory of Open Access Journals (Sweden)

V. Yehorov

2017-06-01

Full Text Available Studying of technical disciplines in higher education institution as a rule consists of 2 parts – theories and practice. Practice, is a type of educational process which allows to realize theoretical knowledge to the applied sphere. In particular it allows to provide an object visually, creating its image and visually adequate perception. This work is devoted to development of laboratory base of technical college with use of robots manipulators on occupations. Its relevance is shown. The overview of modern stands is provided in different higher education institutions, the analysis of their benefits and shortcomings is this. The task of creation of the robot manipulator for sorting of objects of color is set. The robot model including an automatic management system it is developed. The sensor of color, the regulator and the executive mechanism allowing to move objects to the corresponding reservoirs is its part. Possibilities of further development of a question, in particular, creations of physical model for use are given in laboratory works.

Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

International Nuclear Information System (INIS)

Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo

2016-01-01

An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted

Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

Energy Technology Data Exchange (ETDEWEB)

Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted.

Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

International Nuclear Information System (INIS)

Duan Xingguang; Wang Yonggui; Li Meng; Kong Xiangzhan; Liu Qingsong

2016-01-01

To reduce labor intensity and irradiation exposure time inside the steam generator during the maintenance period of the nuclear power plant, a blocking plate manipulation robot system, including manipulation robot and pneumatic control console, is developed as an automatic remote-control tool to help staff to complete sealing steam generator primary pipes. The manipulation robot for fastening/loosening bolts utilizes visual guidance for target position, and the recognition algorithm is exerted to extract the bolt center coordinate values from image captured by camera in the procedure. The control strategy based on the position and current feedback is proposed for single bolt operation and whole bolts automatic operation. Meanwhile, the virtual interactive interface and remote monitoring are designed to improve the operability and safety. Finally, the relative experiments have verified the work effectiveness and the future work would be discussed. (author)

Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal

Science.gov (United States)

Erickson, David; Lacheray, Hervé; Lai, Gilbert; Haddadi, Amir

2014-06-01

This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.

Operating gains achieved by a new generation of remotely controlled manipulators

International Nuclear Information System (INIS)

Djedidi, A.; Selliez-Vandernotte, C.; Malcolm, F.

2014-01-01

A high performance remotely controlled mechanical master slave arm with direct transmission via cable and transmission rods has been converted to a new generation manipulator with electrical master slave arm and motion module with integrated software. The redesigned powered manipulator with software control improves efficiency and ergonomics while increasing operating field space. The mechanical master arm has been replaced by an electrical robotic master arm using haptic technology. The movements initiated by the operator are transmitted in real time to the slave arm via the servo-motors inside the motion module. The mechanical link between master and slave is eliminated and some mechanical constraints have been replaced by software applications. The operator benefits from an improved working position and vibration filtering plus full range high performance force feedback with reduced effort requirement. (authors)

Right-Arm Robotic-Aided-Therapy with the Light-Exoskeleton: A General Overview

OpenAIRE

Lugo-Villeda , Luis I.; Frisoli , Antonio; Sotgiu , Edoardo; Greco , Giovanni; Bergamasco , Massimo; Lugo-Villeda , Luis ,

2010-01-01

Part 7: Robots and Manipulation; International audience; Rehabilitation robotics applications and their developments have been spreading out as consequences of the actual needs in the human activities of daily living (ADL). Exoskeletons for rehabilitation are one of them, whose intrinsic characteristics are quite useful for applications where repetitive, robustness and accurate performance are a must. As a part of robotic-mediated-rehabilitation programme into the worldwide, the exoskeletons ...

A Remote Controlled Robotic Arm That Reads Barcodes and Handles Products

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Zhi-Ying Chen

2018-03-01

Full Text Available In this study, a 6-axis robotic arm, which was controlled by an embedded Raspberry Pi with onboard WiFi, was developed and fabricated. A mobile application (APP, designed for the purpose, was used to operate and monitor a robotic arm by means of a WiFi connection. A computer vision was used to read common one-dimensional barcode (EAN code for the handling and identification of products such as milk tea drinks, sodas and biscuits. The gripper on the end of the arm could sense the clamping force and allowed real-time control of the amount of force used to hold and handle the products. The packages were all made of different material and this control allowed them to be handled without danger of damage or deformation. The maximum handling torque used was ~1.08 Nm and the mechanical design allowed the force of the gripper to be uniformly applied to the sensor to ensure accurate measurement of the force.

Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

Science.gov (United States)

Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

2003-01-01

The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

Improvement of a Robotic Manipulator Model Based on Multivariate Residual Modeling

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Serge Gale

2017-07-01

Full Text Available A new method is presented for extending a dynamic model of a six degrees of freedom robotic manipulator. A non-linear multivariate calibration of input–output training data from several typical motion trajectories is carried out with the aim of predicting the model systematic output error at time (t + 1 from known input reference up till and including time (t. A new partial least squares regression (PLSR based method, nominal PLSR with interactions was developed and used to handle, unmodelled non-linearities. The performance of the new method is compared with least squares (LS. Different cross-validation schemes were compared in order to assess the sampling of the state space based on conventional trajectories. The method developed in the paper can be used as fault monitoring mechanism and early warning system for sensor failure. The results show that the suggested methods improves trajectory tracking performance of the robotic manipulator by extending the initial dynamic model of the manipulator.

21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

CERN Document Server

Schiehlen, Werner

2016-01-01

This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.

Three-dimensional neural net for learning visuomotor coordination of a robot arm.

Science.gov (United States)

Martinetz, T M; Ritter, H J; Schulten, K J

1990-01-01

An extension of T. Kohonen's (1982) self-organizing mapping algorithm together with an error-correction scheme based on the Widrow-Hoff learning rule is applied to develop a learning algorithm for the visuomotor coordination of a simulated robot arm. Learning occurs by a sequence of trial movements without the need for an external teacher. Using input signals from a pair of cameras, the closed robot arm system is able to reduce its positioning error to about 0.3% of the linear dimensions of its work space. This is achieved by choosing the connectivity of a three-dimensional lattice consisting of the units of the neural net.

Tool-change coupling for robots

International Nuclear Information System (INIS)

Cooper, C.

1988-01-01

A coupling device for use in enabling a robotic unit to couple automatically with any one of a number of tools, comprises two coupling parts connected respectively to the tool and the arm. The two parts can be brought into interengaged relationship by appropriate manipulation of the arm and can be locked together by means of a locking element, controlled by piston and cylinder assembly which enters a tapered bore in a spigot after the spigot, which is mounted on the coupling part, has entered a bore in the other coupling part. The parts also incorporate registering passages for providing continuity of pressurised air supply between the robotic unit and a fluid-powered device incorporated in the tool. (author)

[Digital imaging and robotics in endoscopic surgery].

Science.gov (United States)

Go, P M

1998-05-23

The introduction of endoscopical surgery has among other things influenced technical developments in surgery. Owing to digitalisation, major progress will be made in imaging and in the sophisticated technology sometimes called robotics. Digital storage makes the results of imaging diagnostics (e.g. the results of radiological examination) suitable for transmission via video conference systems for telediagnostic purposes. The availability of digital video technique renders possible the processing, storage and retrieval of moving images as well. During endoscopical operations use may be made of a robot arm which replaces the camera man. The arm does not grow tired and provides a stable image. The surgeon himself can operate or address the arm and it can remember fixed image positions to which it can return if ordered to do so. The next step is to carry out surgical manipulations via a robot arm. This may make operations more patient-friendly. A robot arm can also have remote control: telerobotics. At the Internet site of this journal a number of supplements to this article can be found, for instance three-dimensional (3D) illustrations (which is the purpose of the 3D spectacles enclosed with this issue) and a quiz (http:@appendix.niwi. knaw.nl).

PSO based neuro fuzzy sliding mode control for a robot manipulator

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M. Vijay

2017-05-01

Full Text Available This paper presents the control strategy of two degrees of freedom (2DOF rigid robot manipulator based on the coupling of artificial neuro fuzzy inference system (ANFIS with sliding mode control (SMC. Initially SMC with proportional integral derivative (PID sliding surface is adapted to control the robot manipulator. The parameters of the sliding surface are obtained by minimizing a quadratic performance indices using particle swarm optimization (PSO. Variations of SMC i.e. boundary sliding mode control (BSMC and boundary sliding mode control with PID sliding surface (PIDBSMC are developed for optimized performance index. Finally an ANFIS adaptive controller is proposed to generate the adaptive control signal and found to be more robust with regard to disturbances in input torque.

Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator

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Ji-Hwan Hwang

2017-01-01

Full Text Available In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

Science.gov (United States)

Da Fonseca, Ijar M.; Goes, Luiz C. S.; Seito, Narumi; da Silva Duarte, Mayara K.; de Oliveira, Élcio Jeronimo

2017-08-01

In space the manipulators working space is characterized by the microgravity environment. In this environment the spacecraft floats and its rotational/translational motion may be excited by any internal and external disturbances. The complete system, i.e., the spacecraft and the associated robotic manipulator, floats and is sensitive to any reaction force and torque related to the manipulator's operation. In this sense the effort done by the robot may result in torque about the system center of mass and also in forces changing its translational motion. This paper analyzes the impact of the robot manipulator dynamics on the attitude motion and the associated control effort to keep the attitude stable during the manipulator's operation. The dynamics analysis is performed in the close proximity phase of rendezvous docking/berthing operation. In such scenario the linear system equations for the translation and attitude relative motions are appropriate. The computer simulations are implemented for the relative translational and rotational motion. The equations of motion have been simulated through computer by using the MatLab software. The LQR and the PID control laws are used for linear and nonlinear control, respectively, aiming to keep the attitude stable while the robot is in and out of service. The gravity-gradient and the residual magnetic torque are considered as external disturbances. The control efforts are analyzed for the manipulator in and out of service. The control laws allow the system stabilization and good performance when the manipulator is in service.

Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

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Marcin Szuster

2016-02-01

Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman's equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks' weights-adaptation procedure is performed in every iteration step, and the neural networks' preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

Compliant behaviour of redundant robot arm - experiments with null-space

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Petrović Petar B.

2015-01-01

Full Text Available This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators, but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d.o.f. Yaskawa SIA 10F robot arm. [Projekat Ministarstva nauke Republike Srbije, br. TR35007

A new CT-aided robotic stereotaxis system

International Nuclear Information System (INIS)

Shao, H.M.; Chen, J.Y.; Truong, T.K.; Reed, I.S.

1985-01-01

In this paper, it is shown that a robot arm may be programmed to replace the stereotaxic frame for trajectory guidance. Since the robot is driven by a computer, it offers substantial flexibility, speed and accuracy advantages over the frame. It allows a surgeon to conveniently manipulate the probe trajectory in a variety of possible directions. As a consequence, even more sophisticated stereotaxic procedures are now possible. An experimental robotic stereotaxic system is now in operation. It is described in detail in this paper

Joining teleoperation with robotics for advanced manipulation in hostile environments

International Nuclear Information System (INIS)

Martin, H.L.; Hamel, W.R.

1984-01-01

Manipulators have been used for many years to perform remote handling tasks in hazardous environments. The development history of teleoperators is reviewed, and applications around the world are summarized. The effect of computer supervisory control is discussed, and similarities between robots and teleoperator research activities are delineated. With improved control strategies and system designs, combination of positive attributes of robots with teleoperators will lead to advanced machines capable of autonomy in unstructured environments. This concept of a telerobot is introduced as a goal for future activities

Sensory-Feedback Exoskeletal Arm Controller

Science.gov (United States)

An, Bin; Massie, Thomas H.; Vayner, Vladimir

2004-01-01

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment

Dexterous robotic manipulation of alert adult Drosophila for high-content experimentation.

Science.gov (United States)

Savall, Joan; Ho, Eric Tatt Wei; Huang, Cheng; Maxey, Jessica R; Schnitzer, Mark J

2015-07-01

We present a robot that enables high-content studies of alert adult Drosophila by combining operations including gentle picking; translations and rotations; characterizations of fly phenotypes and behaviors; microdissection; or release. To illustrate, we assessed fly morphology, tracked odor-evoked locomotion, sorted flies by sex, and dissected the cuticle to image neural activity. The robot's tireless capacity for precise manipulations enables a scalable platform for screening flies' complex attributes and behavioral patterns.

Development of a 3D-Printed Robotic Prosthetic Arm

Energy Technology Data Exchange (ETDEWEB)

Gomez Martinez, M.; Garcia-Miquel, A.; Vidal Martinez, N.

2016-07-01

Current prostheses are not affordable to the general public. 3D printing technology may allow low-cost production of such devices, making them more readily accessible to people in need. This contribution presents the set-up and the considerations that have to be taken into account to develop a functional artificial upper limb prototype. The robotic prosthetic arm reported herein was produced entirely using 3D printing technology to demonstrate its feasibility on a limited budget. The project was developed to integrate two different functional modes: a prosthetic application and a remote application. The prosthetic application is intended to emulate existing prosthetic devices using myoelectric sensors. The remote application is conceived as a tool for prevention, by providing the general public with a device that could carry out activities that entail a risk of severe physical injury. This is achieved using a hand-tracking system that allows the robotic arm to copy the user’s movements remotely and in real time. The outcome of the validation tests has been considerably successful for both applications and the total costs are on target. (Author)

Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks

Directory of Open Access Journals (Sweden)

Rocco Furferi

2016-10-01

Full Text Available An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments. Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment and it is transported by four underwater mobile robots, each one provided with a seven-degrees-of-freedom robotic arm. The simulation results are optimized thanks to the ANNs used for the potentials tuning.

Novel Adaptive Forward Neural MIMO NARX Model for the Identification of Industrial 3-DOF Robot Arm Kinematics

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Ho Pham Huy Anh

2012-10-01

Full Text Available In this paper, a novel forward adaptive neural MIMO NARX model is used for modelling and identifying the forward kinematics of an industrial 3-DOF robot arm system. The nonlinear features of the forward kinematics of the industrial robot arm drive are thoroughly modelled based on the forward adaptive neural NARX model-based identification process using experimental input-output training data. This paper proposes a novel use of a back propagation (BP algorithm to generate the forward neural MIMO NARX (FNMN model for the forward kinematics of the industrial 3-DOF robot arm. The results show that the proposed adaptive neural NARX model trained by a Back Propagation learning algorithm yields outstanding performance and perfect accuracy.

Extended Kalman filtering applied to a two-axis robotic arm with flexible links

Energy Technology Data Exchange (ETDEWEB)

Lertpiriyasuwat, V.; Berg, M.C.; Buffinton, K.W.

2000-03-01

An industrial robot today uses measurements of its joint positions and models of its kinematics and dynamics to estimate and control its end-effector position. Substantially better end-effector position estimation and control performance would be obtainable if direct measurements of its end-effector position were also used. The subject of this paper is extended Kalman filtering for precise estimation of the position of the end-effector of a robot using, in addition to the usual measurements of the joint positions, direct measurements of the end-effector position. The estimation performances of extended Kalman filters are compared in applications to a planar two-axis robotic arm with very flexible links. The comparisons shed new light on the dependence of extended Kalman filter estimation performance on the quality of the model of the arm dynamics that the extended Kalman filter operates with.

Crimped braided sleeves for soft, actuating arm in robotic abdominal surgery.

Science.gov (United States)

Elsayed, Yahya; Lekakou, Constantina; Ranzani, Tommaso; Cianchetti, Matteo; Morino, Mario; Arezzo, Alberto; Menciassi, Arianna; Geng, Tao; Saaj, Chakravarthini M

2015-01-01

This paper investigates different types of crimped, braided sleeve used for a soft arm for robotic abdominal surgery, with the sleeve required to contain balloon expansion in the pneumatically actuating arm while it follows the required bending, elongation and diameter reduction of the arm. Three types of crimped, braided sleeves from PET (BraidPET) or nylon (BraidGreyNylon and BraidNylon, with different monofilament diameters) were fabricated and tested including geometrical and microstructural characterisation of the crimp and braid, mechanical tests and medical scratching tests for organ damage of domestic pigs. BraidPET caused some organ damage, sliding under normal force of 2-5 N; this was attributed to the high roughness of the braid pattern, the higher friction coefficient of polyethylene terephthalate (PET) compared to nylon, and the high frequency of the crimp peaks for this sleeve. No organ damage was observed for the BraidNylon, attributed to both the lower roughness of the braid pattern and the low friction coefficient of nylon. BraidNylon also required the lowest tensile force during its elongation to similar maximum strain as that of BraidPET, translating to low power requirements. BraidNylon is recommended for the crimped sleeve of the arm designed for robotic abdominal surgery.

Distributed cerebellar plasticity implements adaptable gain control in a manipulation task: a closed-loop robotic simulation

Directory of Open Access Journals (Sweden)

Jesus A Garrido Alcazar

2013-10-01

Full Text Available Adaptable gain regulation is at the core of the forward controller operation performed by the cerebro-cerebellar loops and it allows the intensity of motor acts to be finely tuned in a predictive manner. In order to learn and store information about body-object dynamics and to generate an internal model of movement, the cerebellum is thought to employ long-term synaptic plasticity. LTD at the PF-PC synapse has classically been assumed to subserve this function (Marr, 1969. However, this plasticity alone cannot account for the broad dynamic ranges and time scales of cerebellar adaptation. We therefore tested the role of plasticity distributed over multiple synaptic sites (Gao et al., 2012; Hansel et al., 2001 by generating an analog cerebellar model embedded into a control loop connected to a robotic simulator. The robot used a three-joint arm and performed repetitive fast manipulations with different masses along an 8-shape trajectory. In accordance with biological evidence, the cerebellum model was endowed with both LTD and LTP at the PF-PC, MF-DCN and PC-DCN synapses. This resulted in a network scheme whose effectiveness was extended considerably compared to one including just PF-PC synaptic plasticity. Indeed, the system including distributed plasticity reliably self-adapted to manipulate different masses and to learn the arm-object dynamics over a time course that included fast learning and consolidation, along the lines of what has been observed in behavioral tests. In particular, PF-PC plasticity operated as a time correlator between the actual input state and the system error, while MF-DCN and PC-DCN plasticity played a key role in generating the gain controller. This model suggests that distributed synaptic plasticity allows generation of the complex learning properties of the cerebellum. The incorporation of further plasticity mechanisms and of spiking signal processing will allow this concept to be extended in a more realistic

Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality

Science.gov (United States)

Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur

2017-04-01

Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.

Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators

Science.gov (United States)

Park, Yong-Lae; Black, Richard; Moslehi, Behzad; Cutkosky, Mark; Chau, Kelvin

2012-01-01

Force sensing is an essential requirement for dexterous robot manipulation, e.g., for extravehicular robots making vehicle repairs. Although strain gauges have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility including a high degree of multiplexibility, and immunity to electromagnetic noise. This invention is a force and deflection sensor a flexible shell formed with an elastomer having passageways formed by apertures in the shell, with an optical fiber having one or more Bragg gratings positioned in the passageways for the measurement of force and deflection.

Investigation of human-robot interface performance in household environments

Science.gov (United States)

Cremer, Sven; Mirza, Fahad; Tuladhar, Yathartha; Alonzo, Rommel; Hingeley, Anthony; Popa, Dan O.

2016-05-01

Today, assistive robots are being introduced into human environments at an increasing rate. Human environments are highly cluttered and dynamic, making it difficult to foresee all necessary capabilities and pre-program all desirable future skills of the robot. One approach to increase robot performance is semi-autonomous operation, allowing users to intervene and guide the robot through difficult tasks. To this end, robots need intuitive Human-Machine Interfaces (HMIs) that support fine motion control without overwhelming the operator. In this study we evaluate the performance of several interfaces that balance autonomy and teleoperation of a mobile manipulator for accomplishing several household tasks. Our proposed HMI framework includes teleoperation devices such as a tablet, as well as physical interfaces in the form of piezoresistive pressure sensor arrays. Mobile manipulation experiments were performed with a sensorized KUKA youBot, an omnidirectional platform with a 5 degrees of freedom (DOF) arm. The pick and place tasks involved navigation and manipulation of objects in household environments. Performance metrics included time for task completion and position accuracy.

Innovations in robotic surgery.

Science.gov (United States)

Gettman, Matthew; Rivera, Marcelino

2016-05-01

Developments in robotic surgery have continued to advance care throughout the field of urology. The purpose of this review is to evaluate innovations in robotic surgery over the past 18 months. The release of the da Vinci Xi system heralded an improvement on the Si system with improved docking, the ability to further manipulate robotic arms without clashing, and an autofocus universal endoscope. Robotic simulation continues to evolve with improvements in simulation training design to include augmented reality in robotic surgical education. Robotic-assisted laparoendoscopic single-site surgery continues to evolve with improvements on technique that allow for tackling previously complex pathologic surgical anatomy including urologic oncology and reconstruction. Last, innovations of new surgical platforms with robotic systems to improve surgeon ergonomics and efficiency in ureteral and renal surgery are being applied in the clinical setting. Urologic surgery continues to be at the forefront of the revolution of robotic surgery with advancements in not only existing technology but also creation of entirely novel surgical systems.

20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

CERN Document Server

Glazunov, Victor

2014-01-01

This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2014, the 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2014 is the twentieth event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community. Proceedings volumes of ROMANSY have been always published to be available, also after the symposium, to a large public of scholars and designers with the aim to give an overview of new advances and trends in the theory, design, and practice of robots....

Self-Structured Organizing Single-Input CMAC Control for Robot Manipulator

Directory of Open Access Journals (Sweden)

ThanhQuyen Ngo

2011-09-01

Full Text Available This paper represents a self-structured organizing single-input control system based on differentiable cerebellar model articulation controller (CMAC for an n-link robot manipulator to achieve the high-precision position tracking. In the proposed scheme, the single-input CMAC controller is solely used to control the plant, so the input space dimension of CMAC can be simplified and no conventional controller is needed. The structure of single-input CMAC will also be self-organized; that is, the layers of single-input CMAC will grow or prune systematically and their receptive functions can be automatically adjusted. The online tuning laws of single-input CMAC parameters are derived in gradient-descent learning method and the discrete-type Lyapunov function is applied to determine the learning rates of proposed control system so that the stability of the system can be guaranteed. The simulation results of robot manipulator are provided to verify the effectiveness of the proposed control methodology.

Mobile robot for power plant inspection and maintenance

International Nuclear Information System (INIS)

White, J.R.; Farnstrom, K.A.; Harvey, H.W.; Upton, R.G.; Walker, K.L.

1988-01-01

An all-terrain, mobile robot (called SURBOT-T) has been developed to perform remote visual, sound, and radiation surveillance within contaminated areas of nuclear power plants. The robot can be equipped with a two-armed, telerobotic manipulator system to perform remote maintenance work. The SURBOT-T vehicle has a double-articulating track base that is capable of climbing 45-deg slopes and stairs and over 16-in.-high obstacles. The overall size of SURBOT-T is 28 in. wide by 38 in. long with the front and rear tracks raised and 52 in. high with the camera lowered. With the tracks in a level position, the base provides a sturdy work platform and can ascend/descend stairs without fear of tipping over. The track can be pivoted straight down to elevate the base 14 in. and pass through water up to 24 in. deep. All motors, amplifiers, computer boards, and other electronic components are contained within a sealed housing. The color television camera, spotlight, and directional microphone are mounted on a pan/tilt, which is attached to an elevating mechanism that has 8 ft of vertical travel. An air sampler, radiation detector, and temperature/humidity probe are mounted on the vehicle. The slave manipulator arms on the vehicle can be teleoperated using master arms that are attached to a portable stand near the control console. They can also be taught to perform motions or tasks by computer control much like robot arms in the automated manufacturing industry

An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

Directory of Open Access Journals (Sweden)

A. Notué Kadjie

2017-01-01

Full Text Available The authors numerically investigate the dynamics and control of an electromechanical robot arm consisting of a pendulum coupled to an electrical circuit via an electromagnetic mechanism. The analysis of the dynamical behavior of the electromechanical device powered by a sinusoidal power source is carried out when the effects of the loads on the arm are neglected. It is found that the device exhibits period-n T oscillations and high amplitude oscillations when the electric current is at its smallest value. The specific case which considers the effects of the impulsive contact force caused by an external load mass pushed by the arm is also studied. It is found that the amplitude of the impulse force generates several behaviors such as jump of amplitude and distortions of the mechanical vibration and electrical signal. For more efficient functioning of the device, both piezoelectric and adaptive backstepping controls are applied on the system. It is found that the control strategies are able to mitigate the signal distortion and restore the dynamical behavior to its normal state or reduce the effects of perturbations such as a short time variation of one component or when the robot system is subject to noises.

Endoscopic endonasal transsphenoidal surgery using the iArmS operation support robot: initial experience in 43 patients.

Science.gov (United States)

Ogiwara, Toshihiro; Goto, Tetsuya; Nagm, Alhusain; Hongo, Kazuhiro

2017-05-01

Objective The intelligent arm-support system, iArmS, which follows the surgeon's arm and automatically fixes it at an adequate position, was developed as an operation support robot. iArmS was designed to support the surgeon's forearm to prevent hand trembling and to alleviate fatigue during surgery with a microscope. In this study, the authors report on application of this robotic device to endoscopic endonasal transsphenoidal surgery (ETSS) and evaluate their initial experiences. Methods The study population consisted of 43 patients: 29 with pituitary adenoma, 3 with meningioma, 3 with Rathke's cleft cyst, 2 with craniopharyngioma, 2 with chordoma, and 4 with other conditions. All patients underwent surgery via the endonasal transsphenoidal approach using a rigid endoscope. During the nasal and sphenoid phases, iArmS was used to support the surgeon's nondominant arm, which held the endoscope. The details of the iArmS and clinical results were collected. Results iArmS followed the surgeon's arm movement automatically. It reduced the surgeon's fatigue and stabilized the surgeon's hand during ETSS. Shaking of the video image decreased due to the steadying of the surgeon's scope-holding hand with iArmS. There were no complications related to use of the device. Conclusions The intelligent armrest, iArmS, seems to be safe and effective during ETSS. iArmS is helpful for improving the precision and safety not only for microscopic neurosurgery, but also for ETSS. Ongoing advances in robotics ensure the continued evolution of neurosurgery.

Development of mobile manipulator for maintenance work in containment vessels of nuclear power plants

International Nuclear Information System (INIS)

Omichi, Takeo; Nishihara, Masatoshi; Hosaka, Shigetaka; Nakayama, Junji; Sato, Masatoshi; Ishida, Michiyasu

1985-01-01

The teleoperation system with robot is described for in the containment vessels of nuclear power plants. We have developed a high level robot system as the practical use level. The robot is designed to execute the locomotions and manipulations required for closing and opening the valve, tightening the bolt and others. The robot consists of a locomotor with four legs and two driving wheels, an articulated manipulator with seven joints, and an ITV arm with stereo-camera. The size of the robot is small, that is about 500 mm in length, 500 mm in width, 1200 mm in height and 420 kg in weight. The robot can be operated in a hostile environment, which has a 10 6 R gamma ray dose, 70 deg C temperature, 100 % relative humidity. We have added an advanced control method in order to reduce the operator's load. Also, an interlock and a fail-safe control are installed in the robot system. (author)

Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans

Science.gov (United States)

Rahman, Md. Mozasser; Ikeura, Ryojun; Mizutani, Kazuki

In the near future many aspects of our lives will be encompassed by tasks performed in cooperation with robots. The application of robots in home automation, agricultural production and medical operations etc. will be indispensable. As a result robots need to be made human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work imitating human characteristics. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the impedance characteristic of the human arm in a cooperative task is investigated. Then, this characteristic is implemented to control a robot in order to perform cooperative task with humans. A human followed the motion of an object, which is moved through desired trajectories. The motion is actuated by the linear motor of the one degree-of-freedom robot system. Trajectories used in the experiments of this method were minimum jerk (the rate of change of acceleration) trajectory, which was found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a simple second-order equation is used as models for the arm dynamics. In the model, we considered mass, stiffness and damping factor. Impedance parameter is calculated from the position and force data obtained from the experiments and based on the “Estimation of Parametric Model”. Investigated impedance characteristic of human arm is then implemented to control a robot, which performed cooperative task with human. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with human.

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

Science.gov (United States)

Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

2012-01-01

In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

Directory of Open Access Journals (Sweden)

Hsu-Chih Huang

2014-01-01

Full Text Available This paper presents a hybrid Taguchi deoxyribonucleic acid (DNA swarm intelligence for solving the inverse kinematics redundancy problem of six degree-of-freedom (DOF humanoid robot arms. The inverse kinematics problem of the multi-DOF humanoid robot arm is redundant and has no general closed-form solutions or analytical solutions. The optimal joint configurations are obtained by minimizing the predefined performance index in DNA algorithm for real-world humanoid robotics application. The Taguchi method is employed to determine the DNA parameters to search for the joint solutions of the six-DOF robot arms more efficiently. This approach circumvents the disadvantage of time-consuming tuning procedure in conventional DNA computing. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods. This Taguchi-based DNA (TDNA solver outperforms the conventional solvers, such as geometric solver, Jacobian-based solver, genetic algorithm (GA solver and ant, colony optimization (ACO solver.

An expert system for automated robotic grasping

International Nuclear Information System (INIS)

Stansfield, S.A.

1990-01-01

Many US Department of Energy sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (e.g., decontamination and decommissioning of inactive nuclear facilities) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, the authors present a rule-based expert system for automated, dextrous robotic grasping. This system interprets the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system - either as a fully autonomous grasping system or one that generates grasping options for a human operator and then automatically carries out the selected option

Human-like Compliance for Dexterous Robot Hands

Science.gov (United States)

Jau, Bruno M.

1995-01-01

This paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.

Fuzzy Control of Robotic Arm

Science.gov (United States)

Lin, Kyaw Kyaw; Soe, Aung Kyaw; Thu, Theint Theint

2008-10-01

This research work investigates a Self-Tuning Proportional Derivative (PD) type Fuzzy Logic Controller (STPDFLC) for a two link robot system. The proposed scheme adjusts on-line the output Scaling Factor (SF) by fuzzy rules according to the current trend of the robot. The rule base for tuning the output scaling factor is defined on the error (e) and change in error (de). The scheme is also based on the fact that the controller always tries to manipulate the process input. The rules are in the familiar if-then format. All membership functions for controller inputs (e and de) and controller output (UN) are defined on the common interval [-1,1]; whereas the membership functions for the gain updating factor (α) is defined on [0,1]. There are various methods to calculate the crisp output of the system. Center of Gravity (COG) method is used in this application due to better results it gives. Performances of the proposed STPDFLC are compared with those of their corresponding PD-type conventional Fuzzy Logic Controller (PDFLC). The proposed scheme shows a remarkably improved performance over its conventional counterpart especially under parameters variation (payload). The two-link results of analysis are simulated. These simulation results are illustrated by using MATLAB® programming.

A discrete-time adaptive control scheme for robot manipulators

Science.gov (United States)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse

DEFF Research Database (Denmark)

Wu, Haiyan; Andersen, Thomas Timm; Andersen, Nils Axel

2016-01-01

Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for slaughterhouse. In this work, a pick and place task which....... An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. The system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick...

Soft object deformation monitoring and learning for model-based robotic hand manipulation.

Science.gov (United States)

Cretu, Ana-Maria; Payeur, Pierre; Petriu, Emil M

2012-06-01

This paper discusses the design and implementation of a framework that automatically extracts and monitors the shape deformations of soft objects from a video sequence and maps them with force measurements with the goal of providing the necessary information to the controller of a robotic hand to ensure safe model-based deformable object manipulation. Measurements corresponding to the interaction force at the level of the fingertips and to the position of the fingertips of a three-finger robotic hand are associated with the contours of a deformed object tracked in a series of images using neural-network approaches. The resulting model captures the behavior of the object and is able to predict its behavior for previously unseen interactions without any assumption on the object's material. The availability of such models can contribute to the improvement of a robotic hand controller, therefore allowing more accurate and stable grasp while providing more elaborate manipulation capabilities for deformable objects. Experiments performed for different objects, made of various materials, reveal that the method accurately captures and predicts the object's shape deformation while the object is submitted to external forces applied by the robot fingers. The proposed method is also fast and insensitive to severe contour deformations, as well as to smooth changes in lighting, contrast, and background.

Task decomposition for a multilimbed robot to work in reachable but unorientable space

Science.gov (United States)

Su, Chau; Zheng, Yuan F.

1991-01-01

Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.

Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm

DEFF Research Database (Denmark)

Wu, Guanglei; Guo, Sheng; Bai, Shaoping

2015-01-01

This paper presents compliance modeling and error compensation for lightweight robotic arms built with parallelogram linkages, i.e., Π joints. The Cartesian stiffness matrix is derived using the virtual joint method. Based on the developed stiffness model, a method to compensate the compliance...... error is introduced, being illustrated with a 3-parallelogram robot in the application of pick-and-place operation. The results show that this compensation method can effectively improve the operation accuracy....

Goal driven kinematic simulation of flexible arm robot for space station missions

Science.gov (United States)

Janssen, P.; Choudry, A.

1987-01-01

Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

Development of a mobile manipulator for nuclear plant disaster, HELIOS X. Mechanical design and basic experiments

International Nuclear Information System (INIS)

Noda, Satsuya; Hirose, Shigeo; Ueda, Koji; Nakano, Hisami; Horigome, Atsushi; Endo, Gen

2016-01-01

In places such as nuclear power plant disaster area, which it is difficult for human workers to enter, robots are required to scout those places instead of human workers. In this paper, we present a mobile manipulator HELIOS X for a nuclear plant decommissioning task. Firstly, we address demands and specifications for the robot, considering the mission of reconnaissance. Then we outline the system of the robot, mainly focusing on the following mechanism: 'Crank Wheel', 'Main Arm', 'Sphere Link Wrist', 'Camera Arm', 'Control System' and 'System architecture'. Especially, we installed 3 degree of freedom 'Camera Arm' on the 'Main Arm', in order to improve functionality of remote control system. This enables the operator to monitor both the gripper and its overall view of the robot. 'Camera Arm' helps the operator to recognize the distance from an object to the gripper, because the operator can interactively move the viewpoint of the camera, and monitor from another camera angle without changing the gripper's position. We confirmed the basic functionality of mobile base, 'Main Arm' and 'Camera Arm' through hardware experiments. We also demonstrated that HELIOS X could pass through the pull-to-open door with a substantial closing force when the operator watched camera view only. (author)

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

Science.gov (United States)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

Soft-robotic arm inspired by the octopus: II. From artificial requirements to innovative technological solutions

International Nuclear Information System (INIS)

Mazzolai, B; Margheri, L; Cianchetti, M; Dario, P; Laschi, C

2012-01-01

Soft robotics is a current focus in robotics research because of the expected capability of soft robots to better interact with real-world environments. As a point of inspiration in the development of innovative technologies in soft robotics, octopuses are particularly interesting ‘animal models’. Octopus arms have unique biomechanical capabilities that combine significant pliability with the ability to exert a great deal of force, because they lack rigid structures but can change and control their degree of stiffness. The octopus arm motor capability is a result of the peculiar arrangement of its muscles and the properties of its tissues. These special abilities have been investigated by the authors in a specific study dedicated to identifying the key principles underlying these biological functions and deriving engineering requirements for robotics solutions. This paper, which is the second in a two-part series, presents how the identified requirements can be used to create innovative technological solutions, such as soft materials, mechanisms and actuators. Experiments indicate the ability of these proposed solutions to ensure the same performance as in the biological model in terms of compliance, elongation and force. These results represent useful and relevant components of innovative soft-robotic systems and suggest their potential use to create a new generation of highly dexterous, soft-bodied robots. (paper)

Brain-Machine Interface control of a robot arm using actor-critic rainforcement learning.

Science.gov (United States)

Pohlmeyer, Eric A; Mahmoudi, Babak; Geng, Shijia; Prins, Noeline; Sanchez, Justin C

2012-01-01

Here we demonstrate how a marmoset monkey can use a reinforcement learning (RL) Brain-Machine Interface (BMI) to effectively control the movements of a robot arm for a reaching task. In this work, an actor-critic RL algorithm used neural ensemble activity in the monkey's motor cortext to control the robot movements during a two-target decision task. This novel approach to decoding offers unique advantages for BMI control applications. Compared to supervised learning decoding methods, the actor-critic RL algorithm does not require an explicit set of training data to create a static control model, but rather it incrementally adapts the model parameters according to its current performance, in this case requiring only a very basic feedback signal. We show how this algorithm achieved high performance when mapping the monkey's neural states (94%) to robot actions, and only needed to experience a few trials before obtaining accurate real-time control of the robot arm. Since RL methods responsively adapt and adjust their parameters, they can provide a method to create BMIs that are robust against perturbations caused by changes in either the neural input space or the output actions they generate under different task requirements or goals.

Soft Robotics: Biological Inspiration, State of the Art, and Future Research

Directory of Open Access Journals (Sweden)

Deepak Trivedi

2008-01-01

Full Text Available Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats (e.g. octopus arms and elephant trunks are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.

Learning compliant manipulation through kinesthetic and tactile human-robot interaction.

Science.gov (United States)

Kronander, Klas; Billard, Aude

2014-01-01

Robot Learning from Demonstration (RLfD) has been identified as a key element for making robots useful in daily lives. A wide range of techniques has been proposed for deriving a task model from a set of demonstrations of the task. Most previous works use learning to model the kinematics of the task, and for autonomous execution the robot then relies on a stiff position controller. While many tasks can and have been learned this way, there are tasks in which controlling the position alone is insufficient to achieve the goals of the task. These are typically tasks that involve contact or require a specific response to physical perturbations. The question of how to adjust the compliance to suit the need of the task has not yet been fully treated in Robot Learning from Demonstration. In this paper, we address this issue and present interfaces that allow a human teacher to indicate compliance variations by physically interacting with the robot during task execution. We validate our approach in two different experiments on the 7 DoF Barrett WAM and KUKA LWR robot manipulators. Furthermore, we conduct a user study to evaluate the usability of our approach from a non-roboticists perspective.

An Adaptive Approach for Precise Underwater Vehicle Control in Combined Robot-Diver Operations

Science.gov (United States)

2015-03-01

and Nicosia and Tomei [13] focused on industrial applications involving robotic manipulator arms carrying various loads. The application of...1987. 94 [13] S. Nicosia and P. Tomei, “Model reference adaptive control algorithms for industrial robots ,” Automatica, vol. 20, pp. 635–644, 9... kinematic and dynamic properties,” The International Journal of Robotics Research, vol. 25, pp. 283–296, March 01, 2006. [17] A. Sanei and M. French

Remote telerobotic replacement for master-slave manipulator

International Nuclear Information System (INIS)

Heckendorn, F.M.; Iverson, D.C.; LaValle, D.R.

1997-01-01

A remotely replaceable telerobotic manipulator (TRM) has been developed and deployed at the Defense Waste Processing Facility (DWPF) in support of its radioactive operation. The TRM replaces a Master-Slave Manipulator (MSM). The TRM is in use for both routine and recovery operations for the radioactive waste vitrification melter, the primary production device within the DWPF. The arm was designed for deployment and operation using an existing MSM penetration. This replacement of an existing MSM with a high power robotic device demonstrates the capability to perform similar replacement in other operating facilities. The MSM's were originally deployed in the DWPF to perform routine light capacity tasks. During the testing phase of the DWPF, prior to its radioactive startup in 5/96, the need to remove glass deposits that can form at the melter discharge during filling of glass containment canisters was identified. The combination of high radiation and contamination in the DWPF melter cell during radioactive operation eliminated personnel entry as a recovery option. Therefore remote cleaning methods had to be devised. The MSM's had neither the reach nor the strength required for this task. It became apparent that a robust manipulator arm would be required for recovery from these potential melter discharge pluggage events. The existing wall penetrations, used for the MSM's, could not be altered for seismic and radiological reasons. The new manipulator was required to be of considerable reach, due to existing physical layout, and strength, due to the glass removal requirement. Additionally, the device would have to compatible with high radiation and remote crane installation. The physical size of the manipulator and the weight of components must be consistent with the existing facilities. It was recognized early-on that a manipulator of sufficient strength to recover from a pluggage event would require robotic functions to constrain undesirable motions

Pedicle Screw Insertion Accuracy Using O-Arm, Robotic Guidance, or Freehand Technique: A Comparative Study.

Science.gov (United States)

Laudato, Pietro Aniello; Pierzchala, Katarzyna; Schizas, Constantin

2018-03-15

A retrospective radiological study. The aim of this study was to evaluate the accuracy of pedicle screw insertion using O-Arm navigation, robotic assistance, or a freehand fluoroscopic technique. Pedicle screw insertion using either "O-Arm" navigation or robotic devices is gaining popularity. Although several studies are available evaluating each of those techniques separately, no direct comparison has been attempted. Eighty-four patients undergoing implantation of 569 lumbar and thoracic screws were divided into three groups. Eleven patients (64 screws) had screws inserted using robotic assistance, 25 patients (191 screws) using the O-arm, while 48 patients (314 screws) had screws inserted using lateral fluoroscopy in a freehand technique. A single experienced spine surgeon assisted by a spinal fellow performed all procedures. Screw placement accuracy was assessed by two independent observers on postoperative computed tomography (CTs) according to the A to D Rampersaud criteria. No statistically significant difference was noted between the three groups. About 70.4% of screws in the freehand group, 69.6% in the O arm group, and 78.8% in the robotic group were placed completely within the pedicle margins (grade A) (P > 0.05). About 6.4% of screws were considered misplaced (grades C&D) in the freehand group, 4.2% in the O-arm group, and 4.7% in the robotic group (P > 0.05). The spinal fellow inserted screws with the same accuracy as the senior surgeon (P > 0.05). The advent of new technologies does not appear to alter accuracy of screw placement in our setting. Under supervision, spinal fellows might perform equally well to experienced surgeons using new tools. The lack of difference in accuracy does not imply that the above-mentioned techniques have no added advantages. Other issues, such as surgeon/patient radiation, fiddle factor, teaching suitability, etc., outside the scope of our present study, need further assessment. 3.

The evolution of the application of mobile robotics to nuclear facility operations and maintenance

International Nuclear Information System (INIS)

Carlton, R.E.; Bartholet, S.J.

1987-01-01

Application of the concept of mobile robotics to the operation and maintenance of nuclear facilities has evolved over the last four years due, in part, to the efforts of Odetics in the creation of the teleoperated legged transporter. The first step in this evolutionary process was the demonstration of the legged transporter technology, which was accomplished with the design, fabrication and testing of the Odex I functionoid. A second generation ODEX, delivered to the Robotics Technology Group at Savannah River Laboratories, represents the experimental phase of the process. This machine consists of a basic ODEX I transporter body with a unique manipulator arm mounted on a service turret. Currently, the prototype phase of the mobile robotic development effort is underway with the design of the ODEX III which includes enhanced mobility and dexterity, increased intelligence and greater strength in the manipulator arm and transporter

A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals.

Science.gov (United States)

Wang, Hesheng; Zhang, Runxi; Chen, Weidong; Wang, Xiaozhou; Pfeifer, Rolf

2017-08-01

Minimally invasive surgery attracts more and more attention because of the advantages of minimal trauma, less bleeding and pain and low complication rate. However, minimally invasive surgery for beating hearts is still a challenge. Our goal is to develop a soft robot surgical system for single-port minimally invasive surgery on a beating heart. The soft robot described in this paper is inspired by the octopus arm. Although the octopus arm is soft and has more degrees of freedom (DOFs), it can be controlled flexibly. The soft robot is driven by cables that are embedded into the soft robot manipulator and can control the direction of the end and middle of the soft robot manipulator. The forward, backward and rotation movement of the soft robot is driven by a propulsion plant. The soft robot can move freely by properly controlling the cables and the propulsion plant. The soft surgical robot system can perform different thoracic operations by changing surgical instruments. To evaluate the flexibility, controllability and reachability of the designed soft robot surgical system, some testing experiments have been conducted in vivo on a swine. Through the subxiphoid, the soft robot manipulator could enter into the thoracic cavity and pericardial cavity smoothly and perform some operations such as biopsy, ligation and ablation. The operations were performed successfully and did not cause any damage to the surrounding soft tissues. From the experiments, the flexibility, controllability and reachability of the soft robot surgical system have been verified. Also, it has been shown that this system can be used in the thoracic and pericardial cavity for different operations. Compared with other endoscopy robots, the soft robot surgical system is safer, has more DOFs and is more flexible for control. When performing operations in a beating heart, this system maybe more suitable than traditional endoscopy robots.

Design of teleoperated robot system for nozzle dam maintenance in steam generator

International Nuclear Information System (INIS)

Kim, Chang-Hoi; Hwang, Suk-Young; Lee, Young-Gwang; Kim, Byung-Soo; Kim, Seung-Ho; Lee, Jong-Min

1994-01-01

The recent development of teleoperated manipulator system in KAERI is presented. The manipulator system is composed of master-slave arm and control system with VME based hierarchical structure. Supervisory control part with graphic workstation provides affluent visual information to human operator. This robot can be operated either in the teleoperation mode with master-slave or in the program mode running by computer system itself to enable installation or removal of nozzle dam appropriately within a water chamber of steam generator. Evaluation and analysis have been carried out to get optimal parameters of the robot. (author)

Dynamic modelling and simulation for control of a cylindrical robotic manipulator

International Nuclear Information System (INIS)

Iqbal, A.; Athar, S.M.

1995-03-01

In this report a dynamic model for the three degrees-of-freedom cylindrical manipulator, INFOMATE has been developed. Although the robot dynamics are highly coupled and non-linear, the developed model is relatively straight forward and compact for control engineering and simulation applications. The model has been simulated using the graphical simulation package SIMULINK. Different aspects of INFOMATE associated with forward dynamics, inverse dynamics and control have been investigated by performing various simulation experiments. These simulation experiments confirm the accuracy and applicability of the dynamic robot model. (author) 18 figs

The implementation of common object request broker architecture (CORBA) for controlling robot arm via web

International Nuclear Information System (INIS)

Syed Mahamad Zuhdi Amin; Mohd Yazid Idris; Wan Mohd Nasir Wan Kadir

2001-01-01

This paper presents the employment of the Common Object Request Broker Architecture (CORBA) technology in the implementation of our distributed Arm Robot Controller (ARC). CORBA is an industrial standard architecture based on distributed abstract object model, which is developed by Object Management Group (OMG). The architecture consists of five components i.e. Object Request Broker (ORB), Interface Definition Language (IDL), Dynamic Invocation Interface (DII), Interface Repositories (IR) and Object adapter (OA). CORBA objects are different from typical programming objects in three ways i.e. they can be executed on any platform, located anywhere on the network and written in any language that supports IDL mapping. In the implementation of the system, 5 degree of freedom (DOF) arm robot RCS 6.0 and Java as a programming mapping to the CORBA IDL. By implementing this architecture, the objects in the server machine can be distributed over the network in order to run the controller. the ultimate goal for our ARC system is to demonstrate concurrent execution of multiple arm robots through multiple instantiations of distributed object components. (Author)

A variable structure tracking controller for robot manipulators

International Nuclear Information System (INIS)

Lee, Jung Hoon; Shin, Hwi Beom

1997-01-01

In this paper, a continuous variable structure tracking controller is designed for the purpose of the control of robot manipulators to follow a given desired planned trajectory with high accuracy. The robustness and continuity of the algorithm are much improved by means of the feedforward compensation technique based on the disturbance observer without any chattering problem. Also the stability of the algorithm is analyzed in detail, further more the usefulness and good performances are verified through computer simulation studies. (author)

Task decomposition for multilimbed robots to work in the reachable-but-unorientable space

Science.gov (United States)

Su, Chao; Zheng, Yuan F.

1990-01-01

Multilimbed industrial robots that have at least one arm and two or more legs are suggested for enlarging robot workspace in industrial automation. To plan the motion of a multilimbed robot, the arm-leg motion-coordination problem is raised and task decomposition is proposed to solve the problem; that is, a given task described by the destination position and orientation of the end-effector is decomposed into subtasks for arm manipulation and for leg locomotion, respectively. The former is defined as the end-effector position and orientation with respect to the legged main body, and the latter as the main-body position and orientation in the world coordinates. Three approaches are proposed for the task decomposition. The approaches are further evaluated in terms of energy consumption, from which an optimal approach can be selected.

Brain-state dependent robotic reaching movement with a multi-joint arm exoskeleton: combining brain-machine interfacing and robotic rehabilitation

Directory of Open Access Journals (Sweden)

Daniel eBrauchle

2015-10-01

Full Text Available While robot-assisted arm and hand training after stroke allows for intensive task-oriented practice, it has provided only limited additional benefit over dose-matched physiotherapy up to now. These rehabilitation devices are possibly too supportive during the exercises. Neurophysiological signals might be one way of avoiding slacking and providing robotic support only when the brain is particularly responsive to peripheral input.We tested the feasibility of three-dimensional robotic assistance for reach-to-grasp movements with a multi-joint exoskeleton during motor imagery-related desynchronization of sensorimotor oscillations in the β-band only. We also registered task-related network changes of cortical functional connectivity by electroencephalography via the imaginary part of the coherence function.Healthy subjects and stroke survivors showed similar patterns – but different aptitudes – of controlling the robotic movement. All participants in this pilot study with nine healthy subjects and two stroke patients achieved their maximum performance during the early stages of the task. Robotic control was significantly higher and less variable when proprioceptive feedback was provided in addition to visual feedback, i.e. when the orthosis was actually attached to the subject’s arm during the task. A distributed cortical network of task-related coherent activity in the θ-band showed significant differences between healthy subjects and stroke patients as well as between early and late periods of the task.Brain-robot interfaces may successfully link three-dimensional robotic training to the participants’ efforts and allow for task-oriented practice of activities of daily living with a physiologically controlled multi-joint exoskeleton. Changes of cortical physiology during the task might also help to make subject-specific adjustments of task difficulty and guide adjunct interventions to facilitate motor learning for functional restoration.

Inspiration, simulation and design for smart robot manipulators from the sucker actuation mechanism of cephalopods.

Science.gov (United States)

Grasso, Frank W; Setlur, Pradeep

2007-12-01

Octopus arms house 200-300 independently controlled suckers that can alternately afford an octopus fine manipulation of small objects and produce high adhesion forces on virtually any non-porous surface. Octopuses use their suckers to grasp, rotate and reposition soft objects (e.g., octopus eggs) without damaging them and to provide strong, reversible adhesion forces to anchor the octopus to hard substrates (e.g., rock) during wave surge. The biological 'design' of the sucker system is understood to be divided anatomically into three functional groups: the infundibulum that produces a surface seal that conforms to arbitrary surface geometry; the acetabulum that generates negative pressures for adhesion; and the extrinsic muscles that allow adhered surfaces to be rotated relative to the arm. The effector underlying these abilities is the muscular hydrostat. Guided by sensory input, the thousands of muscle fibers within the muscular hydrostats of the sucker act in coordination to provide stiffness or force when and where needed. The mechanical malleability of octopus suckers, the interdigitated arrangement of their muscle fibers and the flexible interconnections of its parts make direct studies of their control challenging. We developed a dynamic simulator (ABSAMS) that models the general functioning of muscular hydrostat systems built from assemblies of biologically constrained muscular hydrostat models. We report here on simulation studies of octopus-inspired and artificial suckers implemented in this system. These simulations reproduce aspects of octopus sucker performance and squid tentacle extension. Simulations run with these models using parameters from man-made actuators and materials can serve as tools for designing soft robotic implementations of man-made artificial suckers and soft manipulators.

Development of a Stereo Vision Measurement System for a 3D Three-Axial Pneumatic Parallel Mechanism Robot Arm

Directory of Open Access Journals (Sweden)

Chien-Lun Hou

2011-02-01

Full Text Available In this paper, a stereo vision 3D position measurement system for a three-axial pneumatic parallel mechanism robot arm is presented. The stereo vision 3D position measurement system aims to measure the 3D trajectories of the end-effector of the robot arm. To track the end-effector of the robot arm, the circle detection algorithm is used to detect the desired target and the SAD algorithm is used to track the moving target and to search the corresponding target location along the conjugate epipolar line in the stereo pair. After camera calibration, both intrinsic and extrinsic parameters of the stereo rig can be obtained, so images can be rectified according to the camera parameters. Thus, through the epipolar rectification, the stereo matching process is reduced to a horizontal search along the conjugate epipolar line. Finally, 3D trajectories of the end-effector are computed by stereo triangulation. The experimental results show that the stereo vision 3D position measurement system proposed in this paper can successfully track and measure the fifth-order polynomial trajectory and sinusoidal trajectory of the end-effector of the three- axial pneumatic parallel mechanism robot arm.

Automatic Modeling and Simulation of Modular Robots

Science.gov (United States)

Jiang, C.; Wei, H.; Zhang, Y.

2018-03-01

The ability of reconfiguration makes modular robots have the ability of adaptable, low-cost, self-healing and fault-tolerant. It can also be applied to a variety of mission situations. In this manuscript, a robot platform which relied on the module library was designed, based on the screw theory and module theory. Then, the configuration design method of the modular robot was proposed. And the different configurations of modular robot system have been built, including industrial mechanical arms, the mobile platform, six-legged robot and 3D exoskeleton manipulator. Finally, the simulation and verification of one system among them have been made, using the analyses of screw kinematics and polynomial planning. The results of experiments demonstrate the feasibility and superiority of this modular system.

Scheduling a Single Mobile Robot Incorporated into Production Environment

DEFF Research Database (Denmark)

Dang, Vinh Quang; Nielsen, Izabela Ewa; Steger-Jensen, Kenn

2013-01-01

to the challenges of issues such as energy conservation and pollution preventions. Facing the central tension between manufacturing and environmental drivers is difficult, but critical to develop new technologies, particularly mobile robots, that can be incorporated into production to achieve holistic solutions....... This chapter deals with the problem of finding optimal operating sequence in a manufacturing cell of a mobile robot with manipulation arm that feeds materials to feeders. The “Bartender Concept” is discussed to show the cooperation between the mobile robot and industrial environment. The performance criterion...

A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator

Directory of Open Access Journals (Sweden)

Wanjin Guo

2016-01-01

Full Text Available A new methodology using a direct method for obtaining the best found trajectory planning and maximum dynamic load-carrying capacity (DLCC is presented for a 5-degree of freedom (DOF hybrid robot manipulator. A nonlinear constrained multiobjective optimization problem is formulated with four objective functions, namely, travel time, total energy involved in the motion, joint jerks, and joint acceleration. The vector of decision variables is defined by the sequence of the time-interval lengths associated with each two consecutive via-points on the desired trajectory of the 5-DOF robot generalized coordinates. Then this vector of decision variables is computed in order to minimize the cost function (which is the weighted sum of these four objective functions subject to constraints on joint positions, velocities, acceleration, jerks, forces/torques, and payload mass. Two separate approaches are proposed to deal with the trajectory planning problem and the maximum DLCC calculation for the 5-DOF robot manipulator using an evolutionary optimization technique. The adopted evolutionary algorithm is the elitist nondominated sorting genetic algorithm (NSGA-II. A numerical application is performed for obtaining best found solutions of trajectory planning and maximum DLCC calculation for the 5-DOF hybrid robot manipulator.