13,285 research outputs found
Flight telerobot mechanism design: Problems and challenges
Problems and challenges of designing flight telerobot mechanisms are discussed. Specific experiences are drawn from the following system developments: (1) the Force Reflecting Hand Controller, (2) the Smart End Effector, (3) the force-torque sensor, and a generic multi-degrees-of-freedom manipulator
Multi-bot Easy Control Hierarchy
The goal of our project is to create a software architecture that makes it possible to easily control a multi-robot system, as well as seamlessly change control modes during operation. The different control schemes first include the ability to implement on-board and off-board controllers. Second, the commands can specify either actuator level, vehicle level, or fleet level behavior. Finally, motion can be specified by giving a waypoint and time constraint, a velocity and heading, or a throttle and angle. Our code is abstracted so that any type of robot - ranging from ones that use a differential drive set up, to three-wheeled holonomic platforms, to quadcopters - can be added to the system by simply writing drivers that interface with the hardware used and by implementing math packages that do the required calculations. Our team has successfully demonstrated piloting a single robots while switching between waypoint navigation and a joystick controller. In addition, we have demonstrated the synchronized control of two robots using joystick control. Future work includes implementing a more robust cluster control, including off-board functionality, and incorporating our architecture into different types of robots
Actuators for a space manipulator
The robotic manipulator can be decomposed into distinct subsytems. One particular area of interest of mechanical subsystems is electromechanical actuators (or drives). A drive is defined as a motor with an appropriate transmission. An overview is given of existing, as well as state-of-the-art drive systems. The scope is limited to space applications. A design philosophy and adequate requirements are the initial steps in designing a space-qualified actuator. The focus is on the d-c motor in conjunction with several types of transmissions (harmonic, tendon, traction, and gear systems). The various transmissions will be evaluated and key performance parameters will be addressed in detail. Included in the assessment is a shuttle RMS joint and a MSFC drive of the Prototype Manipulator Arm. Compound joints are also investigated. Space imposes a set of requirements for designing a high-performance drive assembly. Its inaccessibility and cryogenic conditions warrant special considerations. Some guidelines concerning these conditions are present. The goal is to gain a better understanding in designing a space actuator
Dynamic Modelling and Adaptive Traction Control for Mobile Robots
Mobile robots have received a great deal of research in recent years. A
significant amount of research has been published in many aspects related to
mobile robots. Most of the research is devoted to design and develop some
control techniques for robot motion and path planning. A large number of
researchers have used kinematic models to develop motion control strategy for
mobile robots. Their argument and assumption that these models are valid if the
robot has low speed, low acceleration and light load. However, dynamic
modelling of mobile robots is very important as they are designed to travel at
higher speed and perform heavy duty work. This paper presents and discusses a
new approach to develop a dynamic model and control strategy for wheeled mobile
robot which I modelled as a rigid body that roles on two wheels and a castor.
The motion control strategy consists of two levels. The first level is dealing
with the dynamic of the system and denoted as Low level controller. The second
level is developed to take care of path planning and trajectory generation
A flexible manufacturing system for lawnmower cutting cylinders
The thesis is concerned with the conception and design of a FLEXIBLE
MANUFACTURING SYSTEM (FMS) for the automation of the manufacture of
lawnmower cutting cylinders at Suffolk Lawnmowers Ltd. A review of FMS
definitions, planning methods and current systems is carried out for the
development of a suitable FMS configuration for the final stages of
manufacture of grass cutting cylinders having 21 different design
specifications. This involves examination of the capabilities of
robotics and microcontrollers to automate the technologies used in
cylinder production.
The company's current manual batch production system is analysed to
determine the suitable form and requirements of the FMS. This includes
analyses of annual volumes, throughputs, batch sizes, product and process
mixes. Long term objectives to automate the system are identified from
which short term objectives are derived. The FMS recommended for
immediate development encompasses the short term objectives for the
welding, hardening, grinding and transfer processes of 8 cutting cylinder
specifications.
It is shown that the MIG (Argon/C02) are welding, progressive flame
hardening and wide-face cylindrical grinding processes can be developed
successfully to automate cylinder production. The recommended system
integrates these processes into an FMS through the'automatic handling
of cylinders (through three process routes) by a robotic manipulator
utilising a double gripper. 'A robotic welding station, manually loaded,
is also recommended. ' The system is controlled overall by a 32K microcontroller
with the process machines individually controlled by programmahle
logic controllers with up to 6K of memory each.
The economic appraisal of the FMS indicates a 4.4 year payback based on
direct labour and material cost savings. The company's application for
grant aid to implement the FMS design has led to an offer of a Department
of Industry grant to cover 50% of all capital and revenue costs. The
grant of £166,943 reduces the payback period to 2.3 years
Implementation of explosion safety regulations in design of a mobile robot for coal mines
The article focuses on specific challenges of the design of a reconnaissance mobile robotic system aimed for inspection in underground coal mine areas after a catastrophic event. Systems that are designated for these conditions must meet specific standards and regulations. In this paper is discussed primarily the main conception of meeting explosion safety regulations of European Union 2014/34/EU (also called ATEX-from French "Appareils destines a etre utilises en ATmospheres Explosives") for Group I (equipment intended for use in underground mines) and Category M1 (equipment designed for operation in the presence of an explosive atmosphere). An example of a practical solution is described on main subsystems of the mobile robot TeleRescuera teleoperated robot with autonomy functions, a sensory subsystem with multiple cameras, three-dimensional (3D) mapping and sensors for measurement of gas concentration, airflow, relative humidity, and temperatures. Explosion safety is ensured according to the Technical Report CLC/TR 60079-33 "s" by two main independent protections-mechanical protection (flameproof enclosure) and electrical protection (automatic methane detector that disconnects power when methane breaches the enclosure and gets inside the robot body).Web of Science811art. no. 230
Development of an intelligent object for grasp and manipulation research
Kõiva R, Haschke R, Ritter H. Development of an intelligent object for grasp and manipulation research. Presented at the ICAR 2011, Tallinn, Estonia.In this paper we introduce a novel device, called iObject, which is equipped with tactile and motion tracking sensors that allow for the evaluation of human and robot grasping and manipulation actions. Contact location and contact force, object acceleration in space (6D) and orientation relative to the earth (3D magnetometer) are measured and transmitted wirelessly over a Bluetooth connection. By allowing human-human, human-robot and robot-robot comparisons to be made, iObject is a versatile tool for studying manual interaction.
To demonstrate the efficiency and flexibility of iObject for the study of bimanual interactions, we report on a physiological experiment and evaluate the main parameters of the considered dual-handed manipulation task
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