650 research outputs found

    Robot Manipulators

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    Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world

    Parallel Manipulators

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    In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

    Advanced Strategies for Robot Manipulators

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    Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. Modern manipulators are designed complicatedly and need to do more precise, crucial and critical tasks. So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints are needed to establish. In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored

    Design Tool for Kinematics of Multibody Systems

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    This research provides a methodology and a tool for selection of appropriate robotic system based on the singularities in the workspace of the machines, suitable for both, designers and users. The kinematic problem solutions are managed through design methodology and represented with function modelling language, IDEF0. This novel approach specifies step by step activities on how to model robotic systems with math and programming tools, like Maple 17 and Matlab 2010. Symbolical and numerical solutions of kinematics, Jacobian matrix, singularities and workspace are successfully obtained for three types of multibody systems; general CNC machine, Mitsubishi MELFA RV-3SDB robot and Yaskawa Motoman DA-20, dual arm collaborative robot. CNC-R Global Reconfigurable Kinematic Model is developed for analyses of different types of manipulators. The main purpose of this design tool for kinematics of multibody systems is to help in kinematics problem solving, by providing visual representation of the workspace with the singularity locus of the same. It represents a set of iterative methods for kinematic design of manipulators, and so at the end, visual presentation of the effective work region, including singular configurations. The methodology is appropriate for any n-DOF multibody system, even for dual arm collaborativ

    The Geometric Design of Spherical Mechanical Linkages with Differential Task Specifications: Experimental Set Up and Applications

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    The thesis focuses on the development of an experimental set up for a recently developed failure recovery technique of spatial robot manipulators. Assuming a general configuration of the spatial robot arm, a task is specified. This task contains constraints on position, velocity and acceleration to be satisfied. These constraints are derived from contact and curvature specifications. The technique synthesizes the serial chain and tests if the task can be satisfied in case of a joint failure. An experimental set up was developed in order to validate the failure recovery technique. It includes a robot arm mounted on a movable platform. The arm and platform are controlled by NI sbRIO board and are programmed in LabVIEW. The experimental results of the failure recovery technique were obtained for the case of Elbow failure in robot manipulators. The thesis considers two applications of the synthesis of spherical five –degree-of-freedom serial chains: Power assist for human therapeutic movement and Synthesis of Parallel Mechanical Linkages. A spherical TS chain has been synthesized for these two applications using the Mathematica software

    Proceedings of the NASA Conference on Space Telerobotics, volume 1

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    The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty

    NASA space station automation: AI-based technology review

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    Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures

    Industrial Robotics

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    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

    Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

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    In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation

    Design and realization of a master-slave system for reconstructive microsurgery

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