14,918 research outputs found
Control of free-flying space robot manipulator systems
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
Fast human motion prediction for human-robot collaboration with wearable interfaces
In this paper, we aim at improving human motion prediction during human-robot
collaboration in industrial facilities by exploiting contributions from both
physical and physiological signals. Improved human-machine collaboration could
prove useful in several areas, while it is crucial for interacting robots to
understand human movement as soon as possible to avoid accidents and injuries.
In this perspective, we propose a novel human-robot interface capable to
anticipate the user intention while performing reaching movements on a working
bench in order to plan the action of a collaborative robot. The proposed
interface can find many applications in the Industry 4.0 framework, where
autonomous and collaborative robots will be an essential part of innovative
facilities. A motion intention prediction and a motion direction prediction
levels have been developed to improve detection speed and accuracy. A Gaussian
Mixture Model (GMM) has been trained with IMU and EMG data following an
evidence accumulation approach to predict reaching direction. Novel dynamic
stopping criteria have been proposed to flexibly adjust the trade-off between
early anticipation and accuracy according to the application. The output of the
two predictors has been used as external inputs to a Finite State Machine (FSM)
to control the behaviour of a physical robot according to user's action or
inaction. Results show that our system outperforms previous methods, achieving
a real-time classification accuracy of after
from movement onset
Dexterous Manipulation Graphs
We propose the Dexterous Manipulation Graph as a tool to address in-hand
manipulation and reposition an object inside a robot's end-effector. This graph
is used to plan a sequence of manipulation primitives so to bring the object to
the desired end pose. This sequence of primitives is translated into motions of
the robot to move the object held by the end-effector. We use a dual arm robot
with parallel grippers to test our method on a real system and show successful
planning and execution of in-hand manipulation
Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch. The dual arm, weighting 1.3 kg in total, employs smart servo actuators and a customized and carefully designed aluminum frame structure manufactured by laser cut. The proposed
design reduces the manufacturing cost as no computer numerical control machined part is used. Mechanical joint compliance is provided in all the joints, introducing a compact spring-lever transmission mechanism between the servo shaft and the links, integrating a potentiometer for measuring the deflection of the joints.
The servo actuators are partially or fully isolated against impacts and overloads thanks to the ange bearings attached to the frame structure that support the rotation of the links and the deflection of the joints. This simple mechanism increases the robustness of the arms and safety in the physical interactions between the aerial
robot and the environment. The developed manipulator has been validated through different experiments in fixed base test-bench and in outdoor flight tests.Unión Europea H2020-ICT-2014- 644271Ministerio de Economía y Competitividad DPI2015-71524-RMinisterio de Economía y Competitividad DPI2017-89790-
Passive Compliance Control of Aerial Manipulators
This paper presents a passive compliance control for aerial manipulators to
achieve stable environmental interactions. The main challenge is the absence of
actuation along body-planar directions of the aerial vehicle which might be
required during the interaction to preserve passivity. The controller proposed
in this paper guarantees passivity of the manipulator through a proper choice
of end-effector coordinates, and that of vehicle fuselage is guaranteed by
exploiting time domain passivity technique. Simulation studies validate the
proposed approach.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS) 201
Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks
This paper is devoted to the control of aerial robots interacting physically with objects in the environment and
with other aerial robots. The paper presents a controller for the particular case of a small‐scaled autonomous helicopter equipped with a robotic arm for aerial manipulation.
Two
types
of
influences
are
imposed
on
the
helicopter
from
a
manipulator:
coherent
and
non
‐
coherent
influence.
In
the
former
case,
the
forces
and
torques
imposed
on
the
helicopter
by
the
manipulator
change
with
frequencies
close
to
those
of
the
helicopter
movement.
The
paper
shows
that
even
small
interaction
forces
imposed
on
the
fuselage
periodically
in
proper
phase
could
yield
to
low
frequency
instabilities
and
oscillations,
so
called
phase
circle
A New Classification and Aerial Manipulation Q-PRR Design
International audienceThis paper presents a new designation and classification of system with UAV and robot manipulator where a new nomenclature is recognized as being the first contribution in the bibliography of design and systems. Several papers deal a problem of manipulation with a different unmanned aerial vehicle, robot arms and also with different naming of their systems, where the difficulty for locate and finding items and a good paper with its title or even by keywords, multirotor equipped with n-DoF robotic arm is the expression among the most widely used to describe that system. Aerial manipulation formula is presented and proved with a large example in the literature
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