Design and Control of an Articulated Robotic Arm Using Visual Inspection for Replacement Activities

Design of robotic systems and their control for inspection and maintenance tasks is highly complex activity involving coordination of various sub-systems. In application like inspections in fusion reactor vessels and deep-mining works, a regular off-line maintenance is necessary in certain locations. Due to the hostile environments inside, robotic systems are to be deployed for such internal observations. In this regard, current work focuses on the methodology for maintenance of the first wall blanket modules in a fusion reactor vessel using a manipulator system. A design is proposed for wall tile inspections in an ideal environment in which vacuum and temperature conditions are not accounted and wall surface curvature is not accounted initially. The entire design has four important modules: (i) mathematical modelling (ii) control system design (iii) machine vision and image processing, (iv) hardware development and testing. A five- axis articulated manipulator equipped with a vision camera in eye-to-hand configuration is designed for performing the pick and place operations of the defected tiles in a systematic manner. Kinematic and dynamics analysis of the system are first carried-out and a scaled prototype is fabricated for testing various operating issues. Forward kinematics of manipulator allows in estimation of robot workspace and in knowing the singular regions during operation, while the inverse kinematics of the manipulator would be needed for real time manipulator control task. Dynamics of manipulator is required for design of model-based controllers. Interactive programs are developed in Matlab for kinematics and dynamics and three-dimensional manipulator assembly configuration is modelled in SolidWorks software. Motion analysis is conducted in ADAMS software in order to compare the results obtained from the classical kinematics. Two types of model-based control schemes (namely Computed Torque Control and Proportional Derivative-Sliding Mode Control approach) with and without external disturbances are implemented to study trajectory tracking performance of the arm with different input trajectories. A disturbance observer model is employed in minimizing the tracking errors during the action of external disturbances such as joint friction and payload. In order to experimentally understand the inspection and replacement activities, a test set-up is developed using vision camera and microcontroller platform to guide the robot joint servos so as to perform defected object replacement activity. Presence of crack and the coordinate of the region are indicated with the use of image-processing operations. Using a high resolution Basler camera mounted at fixed distance from the tile surface, the surface images are acquired and image processing module identifies the crack details using edge detection algorithms. Necessary motion of the end-effector will be provided based on the pose calculations using coordinate transformations. Both visual inspection and joint guidance are combined in a single application and the results are presented with a test case of tile replacement activity. The results are presented sequentially using a test surface with uniform rectangular tiles

Advanced Strategies for Robot Manipulators

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

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

A graph-theory-based C-space path planner for mobile robotic manipulators in close-proximity environments

In this thesis a novel guidance method for a 3-degree-of-freedom robotic manipulator arm in 3 dimensions for Improvised Explosive Device (IED) disposal has been developed. The work carried out in this thesis combines existing methods to develop a technique that delivers advantages taken from several other guidance techniques. These features are necessary for the IED disposal application. The work carried out in this thesis includes kinematic and dynamic modelling of robotic manipulators, T-space to C-space conversion, and path generation using Graph Theory to produce a guidance technique which can plan a safe path through a complex unknown environment. The method improves upon advantages given by other techniques in that it produces a suitable path in 3-dimensions in close-proximity environments in real time with no a priori knowledge of the environment, a necessary precursor to the application of this technique to IED disposal missions. To solve the problem of path planning, the thesis derives the kinematics and dynamics of a robotic arm in order to convert the Euclidean coordinates of measured environment data into C-space. Each dimension in C-space is one control input of the arm. The Euclidean start and end locations of the manipulator end effector are translated into C-space. A three-dimensional path is generated between them using Dijkstra’s Algorithm. The technique allows for a single path to be generated to guide the entire arm through the environment, rather than multiple paths to guide each component through the environment. The robotic arm parameters are modelled as a quasi-linear parameter varying system. As such it requires gain scheduling control, thus allowing compensation of the non-linearities in the system. A Genetic Algorithm is applied to tune a set of PID controllers for the dynamic model of the manipulator arm so that the generated path can then be followed using a conventional path-following algorithm. The technique proposed in this thesis is validated using numerical simulations in order to determine its advantages and limitations

Advances in Mechanical Systems Dynamics 2020

The fundamentals of mechanical system dynamics were established before the beginning of the industrial era. The 18th century was a very important time for science and was characterized by the development of classical mechanics. This development progressed in the 19th century, and new, important applications related to industrialization were found and studied. The development of computers in the 20th century revolutionized mechanical system dynamics owing to the development of numerical simulation. We are now in the presence of the fourth industrial revolution. Mechanical systems are increasingly integrated with electrical, fluidic, and electronic systems, and the industrial environment has become characterized by the cyber-physical systems of industry 4.0. Within this framework, the status-of-the-art has become represented by integrated mechanical systems and supported by accurate dynamic models able to predict their dynamic behavior. Therefore, mechanical systems dynamics will play a central role in forthcoming years. This Special Issue aims to disseminate the latest research findings and ideas in the field of mechanical systems dynamics, with particular emphasis on novel trends and applications

A methodology to determine the functional workspace of a 6R robot using forward kinematics and geometrical methods

The work envelope of a robot does not capture the effect of tool orientation. Applications will require the tool to be at a certain orientation to perform the tasks necessary. It is therefore important to introduce a parameter that can capture the effect of orientation for multiple robots and configurations. This is called the functional work space, which is a subset of the work envelope would capture the effect of orientation. This research discusses the development of establishing an assessment tool that can predict the functional work space of a robot for a certain tool-orientation pair thus aiding in proper tool, tool path, fixture, related configuration selection and placement. Several solutions are studied and an analytical and a geometric solution is presented after a detailed study of joint dependencies, joint movements, limits, link lengths and displacements through visual, empirical and analytical approaches. The functional workspace curve for a manipulator with similar kinematic structure can be created using the geometrical solution discussed in this research. It is difficult to derive a general paradigm since different parameters such as, joint limits, angles and twist angles seem to have a different effect on the shape of the workspace. The geometrical solution employed is simple, easy to deduce and can be simulated with a commercial software package. Design decisions pertaining to configuration and reconfiguration of manipulators will benefit by employing the solution as a design/analysis tool. A case study involving an X-ray diffraction technique goniometer is presented to highlight the merits of this work