30 research outputs found
Computational feasibility study of failure-tolerant path planning, A
Includes bibliographical references (page 239).This work considers the computational costs associated with the implementation of a failure-tolerant path planning algorithm proposed in [1]. The algorithm makes the following assumptions: a manipulator is redundant relative to its task, only a single joint failure occurs at any given time, the manipulator is capable of detecting a joint failure and immediately locks the failed joint, and the environment is static and known. The algorithm is evaluated on a three degree-of-freedom planar manipulator for a total of eleven thousand different scenarios, randomly varying the robot's start and goal positions and the number and locations of obstacles in the environment. Statistical data are presented related to the computation time required by the different steps of the algorithm as a function of the complexity of the environment
Optimization Of Energy Consumption In KUKA KR 16 Articulated Robot Manipulator
A study for optimal energy consumption in KUKA KR 16 articulated robot for pick-and-place task was introduce in this paper. In order to achieve the optimal energy consumption, an improve trajectory planning is required. Essentially, trajectory planning encompasses path planning in addition to planning how to move based on velocity, time and kinematics. Trajectory planning gives a path from a starting to a goal point by avoiding collisions in a 2D or 3D space. Therefore, this paper is focus on analyze the PTP motion and Linear motion in order to determine which is the best motion that can improve the trajectory planning. The optimal energy consumption to minimizing the movement based on three main axes where it used a big motors used to drive the axes. This method is much simpler in terms of development process and did not require any additional hardware to be install to the robot’s system. KUKA KR 16 is use to study optimal energy consumption and analyze PTP and Linear motion. The energy performance is measures with respect to two categories of movements known as Default and Optimal movement which do the same task repetitively within specific time. The result show that PTP motion consumed 6% more energy than Linear motion but completed 773 cycles within one hour whereas Linear motion only completed 492 cycles. Energy performance between Default and Optimal movement shows that Optimal movement recorded 21.8% less energy usage when compared to Default movement although the total cycles completed for both movement almost the same
Optimization of Robot Motion Planning using Ant Colony Optimization
Motion planning in robotics is a process to compute a collision free path between the initial and final configuration among obstacles. To plan a collision free path in the workspace, it would need to plan the motion of every point of its shaping according its degree of freedom. The motion of robot between obstacles is represented by a path in configuration space. It is an imaginary concept.
Motion planning is aimed at enabling robots with capabilities of automatically deciding and executing a sequence motion in order to achieve a task without ollision with other objects in a given environment. Motion planning in a robot workspace for robotic assembly depends on sequence of parts or the order they are arranged to produce a robotic assembly product obeying all the constraints and instability of base assembly movement. If the number of parts increases the sequencing becomes difficult and hence the path planning. As multiple no. of paths are possible, the path is considered to be optimal when it minimizes the travelling time while satisfying the process constraint. For this purpose, it is necessary to select appropriate optimization technique for optimization of paths. Such types of problem can be solved by metaheuristic methods.The present work utilizes ACO for the generation of optimal motion planning sequence. The present algorithm is based on ant's behavior, pheromone update & pheromone evaporation and is used to enhance the local search. This procedure is applied to a grinder assembly, driver assembly and car alternator assembly. Two robots like adept-one and puma-762 are selected for picking and placing operation of parts in their workspace
Industrial Robotics
This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein
Experiments and analysis advance R2100 distance sensors used for safety systems of TOMI
In order to increase safety systems reliability of TOMI harvester, it is necessary to use advance R2100 Distance sensors which can scan all kinds of targets and receive data from automatic control system. The Structure and function of R2100 Distance sensors were provided in this paper, In order to determine the best application function of the R2100, effectiveness of R2100 sensors used for TOMI robot with robotic cutting forage were tested and analyzed. For application in precision agricultural engineering automatic control safety systems, static tests were applied with a box, cylinder, cone and person as 4 target samples which were set at different points and lines with each segment at 8° angle within 11 segments, the target samples were set at 0°, 14°, 44°, 74° and 88° angles with the reference of the sensor at centre, respectively, samples represent obstacles such as tractors, telegraph pole, car, and person which were detected and received by TOMI equipped with R2100 Distance sensors. TOMI Robot equipped with R2100 sensors setting at 240, 420 and 850 mm height, respectively, were set location at about 0.2m, 0.3m, 0.5m, 1m, 1.5m, 2m, 2.5m, 3m, 3.5m and then added up to 0.5 m step up to 10 m with the reference of R2100 sensor in semicircle centre, respectively. In dynamistic testing, the target samples were set at the same method and location, and TOMI robot equipped with Advance R2100 sensors was running at speed of 0.8~1.2 m/s from 5 m to the test centre in dynamistic tests. Tests and statistical evaluate results showed that the average R2 on TOMI robot was up to 98.96% in static tests, while the average R2 is up to 98.67% in dynamistic test, and as far as TOMI robot’s safety system, 420 mm height was the best location for scanning all kinds of obstacles. The experiment results showed that the Advance R2100 was accurate sensor for application, it had been carried out on TOMI's intelligence safety systems which more practical and safety working in various fields
Proceedings of the NASA Conference on Space Telerobotics, volume 3
The theme of the Conference was man-machine collaboration in space. The Conference provided a forum for researchers and engineers to exchange ideas on the research and development required for application of telerobotics technology to the space systems planned for the 1990s and beyond. The Conference: (1) provided a view of current NASA telerobotic research and development; (2) stimulated technical exchange on man-machine systems, manipulator control, machine sensing, machine intelligence, concurrent computation, and system architectures; and (3) identified important unsolved problems of current interest which can be dealt with by future research
ROBOTIC INTERACTION AND COOPERATION. Industrial and rehabilitative applications
The main goal of the thesis is the development of human-robotic interaction
control strategies, which enable close collaboration between human and
robot. In this framework we studied two di erent aspects, with applications
respectively in industrial and rehabilitation domains.
In the rst part safety issues are examined on a scenario in which a robot
manipulator and a human perform the same task and in the same workspace.
During the task execution the human should be able to get into contact with
the robot and in this case an estimation algorithm of both interaction forces
and contact point is proposed in order to guarantee safety conditions. At the
same time, all the unintended contacts have to be avoided, and a suitable
post collision strategy has been studied to move away the robot from the
collision area or to reduce the impact e orts.
However, the second part of the thesis focus on the cooperation between
an orthesis and a patient. Indeed, in order to support a rehabilitation process,
gait parameters, such as hip and knee angles or the beginning of a gait
phase, have been estimated. For this purpose a sensor system, consisting of
accelerometers and gyroscopes, and algorithms, developed in order to avoid
the error accumulation due to the gyroscopes drift and the vibrations related
to the beginning of the stance phase due to the accelerometers, have been
proposed.The main goal of the thesis is the development of human-robotic interaction
control strategies, which enable close collaboration between human and
robot. In this framework we studied two di erent aspects, with applications
respectively in industrial and rehabilitation domains.
In the rst part safety issues are examined on a scenario in which a robot
manipulator and a human perform the same task and in the same workspace.
During the task execution the human should be able to get into contact with
the robot and in this case an estimation algorithm of both interaction forces
and contact point is proposed in order to guarantee safety conditions. At the
same time, all the unintended contacts have to be avoided, and a suitable
post collision strategy has been studied to move away the robot from the
collision area or to reduce the impact e orts.
However, the second part of the thesis focus on the cooperation between
an orthesis and a patient. Indeed, in order to support a rehabilitation process,
gait parameters, such as hip and knee angles or the beginning of a gait
phase, have been estimated. For this purpose a sensor system, consisting of
accelerometers and gyroscopes, and algorithms, developed in order to avoid
the error accumulation due to the gyroscopes drift and the vibrations related
to the beginning of the stance phase due to the accelerometers, have been
proposed
Design and evaluate intelligent control safety systems on the TOMI robot
Aimed to design safety systems and evaluate the behaviours about Robot grass cutting named TOMI, the false tree analysis, failure mode effects tree analysis methods were used for review and analysis about the TOMI robot, it would be liability and legislation; TOMI robot management embedded guidelines and knowledge such as Agricultural Engineering, Design and manufacture of agricultural machinery, Mechanic Theory, Mathematics, Electronics, Grass science, Computer science and several software programs; Procedure and Reliability analysis for robots TOMI safety systems are key features,the safety systems of Agricultural Robot such as TOMI should be checked in various working circumstance; With the full consideration of engineering practicability, the solutions to the safety problems of the TOMI robot are promoted, Technology Route and models about TOMI’s safety system were built, Process Management, continual improvement tools and Techniques and effects analysis were built in the new safety systems of TOMI robot. TOMI function measurements such as braking, throttle and pedal force were tested and analysed. TOMI’s Mechanical system, Hydraulics and Electrical Systems were tested for checking safety and evaluated, some sensors and laser such as Distance sensors, SICK, GPS, Dead man handle, safety red button and bumpers were built up and developed the TOMI robot’s new safety systems; To ensure the safety and reliable operation is a system engineering, it is involved to various TOMI robot design, production, operation, adjust, and management; to improve the TOMI robot reliability and reduce the failure frequency was an important way to improve the robot inherent safety; The Evaluation Criteria of Robot grass Cutting DFMEA occurrence may be suggested to use multiple complex technology knowledge and design with more experience. Application built with Microsoft Robot Development studio was run over on the www.webfarming.com. The hazard and risk analysis were detailed about the safety problems of TOMI robot and deeply studied. Development more practical and safety TOMI robot would be carried out at northwest China in the future
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Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system
This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford`s Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances