81 research outputs found
Design Fabrication & Real Time Vision Based Control of Gaming Board
This paper presents design, fabrication and real time vision based control of a two degree of freedom (d.o.f) robot capable of playing a carom board game. The system consists of three main components: (a) a high resolution digital camera (b) a main processing and controlling unit (c) a robot with two servo motors and striking mechanism. The camera captures the image of arena and transmits it to central processing unit. CPU processes the image and congregate useful information using adaptive histogram technique. Congregated information about the coordinates of the object is then sent to the RISC architecture based microcontroller by serial interface. Microcontroller implements inverse kinematics algorithms and PID control on motors with feedback from high resolution quadrature encoders to reach at the desired coordinates and angles. The striking unit exerts a controlled force on the striker when it is in-line with the disk and carom hole (or, pocket). The striker strikes with the disk and pots (to hit (a ball) into a pocket) it in the pocket. The objective is to develop an intelligent, cost effective and user friendly system that fulfil the idea of technology for entertainment
Hybrid force and position control in robotic surface processing
PhD ThesisThis programme of research was supported by NEI Parsons Ltd. who sought
a robotic means of polishing mechanical components.
A study of the problems associated with robot controlled surface
processing is presented. From this evolved an approach consistent with
the formalisation of the demands of workpiece manipulation which
included the adoption of the Hybrid robot control scheme capable of
simultaneous force and position control.
A unique 3 axis planar experimental manipulator was designed which
utilized combined parallel and serial drives. A force sensing wrist was
used to measure contact force. A variant of the Hybrid control 'scheme
was successfully implemented on a twin computer control system. A
number of manipulator control programs are presented.
The force control aspect is shown both experimentally and analytically
to present control problems and the research has concentrated on this
aspect.
A general analysis of the dynamics of force control is given which shows
force response to be dependent on a number' of important parameters
including force sensor, environment and manipulator dynamics. The need
for a robust or adaptable force controller is discussed.
A series of force controlled manipulator experiments is described and
the results discussed in the context of general analyses and specific
single degree of freedom simulations. Improvements to manipulator force
control are suggested and some were implemented. These are discussed
together with their immediate application to the improvement of robot
controlled surface processing.
This work also lays important foundations for long term related
research. In particular the new techniques for actively controlled
assembly and force control under 'fast' operation.Science and Engineering Research Council
NEI Parsons Ltd
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