Visual Servoing in Robotics

Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas

New concepts in automation and robotic technology for surface engineering

Nowadays, the use of robots for the automation of process is very common. This is due to the advantages provided: cost reduction, quality increase, high reproducibility, etc. Nevertheless the robots have the disadvantage, that a high initial investment is necessary. Thermal spraying processes use industrial robots for many reasons, some of them are: high control of the process, quality increase, dangerous work environment, etc. The industrial robot can control many parameters during the process; like the trajectory and the velocity of the torch, which have a significant influence on the heat and mass transfer to the piece and coating. Properties such as coating thickness, porosity, micro hardness and thermal stress distribution are therefore significantly influenced by the spraying distance, velocity and trajectory. It is thus necessary to implement new tools, which support robot programming and fulfill the requirements of torch handling for thermal spraying and lacquered operation. Optimized robot programming is necessary for high quality products regarding coating properties and functionality. To optimize the robot programming, different off-line programming tools are used. The off-line programming has the advantages: increase of work safety and efficiency, low time to program, continuous production, etc.Escuela Técnica Superior de Ingeniería IndustrialUniversidad Politécnica de CartagenaInstitute for Manufacturing Technologies of Ceramic Components and Composites (IMTCCC; University of Stuttgart

고층빌딩 곤돌라 탑재용 외부 유리창 청소로봇 유닛 개발

학위논문 (석사)-- 서울대학교 대학원 : 공과대학 기계공학과, 2019. 2. 김종원.Walls of high-rise buildings are cleaned manually several times in a year by workers in a gondola. The cleaning work is difficult and extremely dangerous for human workers and there are several ongoing studies to automate this work by means of robotic solutions. To achieve a successful cleaning performance, a cleaning operation has to adapt to the environmental conditions. In this study, we design and assemble a manipulator to be used in wall-cleaning applications. From the design requirements identified by investigating a high-rise building in Korea, we determined the two important degrees-of-freedom (DOF), and a parallel mechanism is designed to achieve the motion. With the parallel configuration, the design parameters are optimized based on a dynamic index to achieve high cleaning performance in a gondola. A prototype is assembled, and the cleaning performance is verified on a test bench. A field test with the developed manipulator will be performed in the near future.빌딩의 빌딩의 벽은 청소 근로자가 근로자가 일 년에 수 차례 직접 곤돌라에 곤돌라에 탑승하여 청소합니다 청소합니다 . 청소 작업은 작업은 단순 노동이지만 노동이지만 고층에서의 고층에서의 고층에서의 작업이므로 작업이므로 매우 위험합니다 위험합니다 . 그리하여 그리하여 로봇을 로봇을 사용하여 사용하여 이 작업을 작업을 자동화하는 자동화하는 지속적인 지속적인 여러 가지 연구가 연구가 있었습니다 있었습니다 . 청소 작업에 가장 중요한 청소 성능을 성능을 높이기 높이기 위해서는 위해서는 청소 조건이 조건이 청소 환경에 환경에 적응해야 적응해야 적응해야 합니다 . 본 연구에서는 연구에서는 연구에서는 외벽 청소작업에 청소작업에 사용할 매니퓰레이터를 매니퓰레이터를 매니퓰레이터를 설계하고 제작 합니다 합니다 . 고층빌딩에 유지보수와 청소작업을 위해 의무 적으로 설치되어있는 곤돌라에 탑재하는 새로운 개념의 청소 로봇입니다 . 한국의 고층 건물을 건물을 조사해서 조사해서 나온 설계 요구 사항에서 사항에서 두 가지 중요한 중요한 매니퓰레이터의 자유도 (DOF)를 결정했습니다 결정했습니다 . 그 후, 모션을 구현하기 위한 병렬 매니퓰레이터 매니퓰레이터 매니퓰레이터 메커니즘을 메커니즘을 설계했습니다 설계했습니다 . 곤돌라에서 곤돌라에서 높은 청소 성능을 성능을 얻기 위해 병렬 매커니즘의 동적 인덱스를 기반으로 기반으로 설계 변수를 최적화 최적화 하였습니다. 그 후, 프로토 타입을 타입을 조립하고 조립하고 세척 성능을 성능을 테스트 벤치에서 벤치에서 확인합니다.1. Introduction . 1 2. Condition for wall-cleaning operation . 4 2.1 63-story building and gondola specification . 4 2.2 Cleaning operation and cleaning performace 4 2.3 Motion and constraints of the gondola motion . 5 3. 2-DOF manipulator for cleaning operation . 7 3.1 Kinematic configuration and modeling 7 3.2 Jacobian matrix . 10 3.3 Dynamic analysis 11 3.4 Mass matrix of the manipulator 12 4. Optimal design . 23 4.1 Dynamic manipulator isotropy index 23 4.2 Workspace constraints 25 4.3 Optimization problem definition . 25 4.4 Optimal design result 25 5. Prototype and experiment . 31 6. Conclusion 31 Reference 32 초록 . 34Maste

The Efficiency of an Optimized PID Controller Based on Ant Colony Algorithm (ACO-PID) for the Position Control of a Multi-articulated System

In this article, a robot manipulator is controlled by the PID controller in a closed loop system with unit feedback. The difficulty of using the controller is parameter tuning, because the tuning parameters still use the trial and error method to find the PID parameter constants, namely Proportional Gain (Kp), Integral Gain (Ki) and Derivative Gain (Kd). In this case the Ant colony Optimization algorithm (ACO) is used to find the best gain parameters of the PID. The Ant algorithm is a method of combinatorial optimization, which utilizes the pattern of ants search for the shortest path from the nest to the place where the food is located, this concept is applied to tuning PID parameters by minimizing the objective function such that the robot manipulator has improved performance characteristics. This work uses the Matlab Simulink environment, First, after obtaining the system model, the ant colony algorithm is used to determine the proper coefficients p, i, and Kd in order to minimize the trajectory errors of the two joints of the robot manipulator. Then, the parameters will implement in the robot system. According to the results of the computer simulations, the proposed method (ACO-PID) gives a system that has a good performance compared with the classical PID

The research of five-bar robot for pressurized autosampling for enhanced oil recovery research

Robots have been widely used in industry and are becoming popular in people’s daily lives. It makes production more efficient and everyday life more convenient. In this research, a robotic auto-sampler is designed, developed and tested to sample and collect two-phase fluids from a core flooding. First of all, this thesis introduces the history of parallel robot industry the state of the art. Then, based on the problem statement, the most reasonable concept is chosen as the Five-Bar parallel robot. Theoretical simulations are made including kinematic analysis to calculate its mechanical dimension and dynamic analysis to calculate the actuator torque. As a result of that, the theoretical dimensions can be obtained and actuators can be chosen. In the design and control phase, the entire integrated system is presented in detail. This thesis researches the design process of an auto-sampler based on a five-bar robot. From the proposed problem to the robot fabrication and programming, the entire system is designed, analyzed, built and tested

Automated construction technologies : analyses and future development strategies

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Architecture, 2005.Page 140 blank.Includes bibliographical references (p. 130-132).Substandard productivity and the lack of skilled workers in the construction industry have led major corporations all over the world aiming to produce various types of automated construction technologies. During the process, novel ideologies of design and construction techniques have been realized and the push for these applications has never been greater. This thesis will look to answer the question of benefit and effectiveness of automated construction technology. It will focus on three basic concepts: 1) Analyzing existing automated construction technology; 2) understanding of automated machine design and components; 3) proposal of a multi-purpose pick-and-place machine for the automated construction process. In the end, the intention will be to promote a design intensive approach to automated construction technology in order to advance the conventional methodologies of design and construction.by Han Hoang.S.M

Design and testing of a position adaptation system for KUKA robots using photoelectric sensors

This thesis presents the development and analysis of a position monitoring and adaptation system to be used in conjunction with a KUKA KR16-2 articulated robot using components readily available in most manufacturing settings. This system could be beneficial in the manufacturing sector in areas such as polymer welding and spray painting. In the former it could be used to maintain an effective distance between a welding end effector laying molten plastic and the surface area of the parts being welded, or in the case of the latter the system would be useful in painting objects of unknown shape or objects with unknown variations in the surface level. In the case of spray painting if you spray to close to an object you will get an inconsistent amount of paint applied to an area. This system would maintain the programmed distance between the robot system and target object. Typically, systems that achieve this level of control rely on expensive sensors such as force torque sensors. This research proposes to take the first step in trying to address the technical problems by introducing a novel way of adapting to a target surface deformation using comparably low cost photoelectric diffuse sensors. The key outcomes of this thesis can be found in the form of a software package to interface the photo-electric sensors to the KUKA robot system. This system is operated by a custom-built algorithm which is capable of dynamically calculating robot movements based off the sensor input. Additionally, an optimum system setup is developed with different configurations of sensor mounting and speeds of robot operation discussed and tested. The viability of the photo-electric diffuses sensors used in this application is also considered with further works suggested. Finally, a secondary application is developed for recording and analysing KUKA robot movements for use in other research activities

Thermal Robotic Arm Controlled Spraying via Robotic Arm and Vision System

The Tribology Surface Engineering industry is a worldwide multi billion euro industry with significant health and safety risks. The thermal spraying sector of this industry employs the technique of applying molten surface coating material to a substrate via a thermal spray process which is implemented either by manual spraying or pre-programmed robotic systems. The development of autonomous robotic systems for thermal spraying surface coating would significantly improve production and profitability over pre-programmed systems and improve health and safety over manual spraying. The aim of this research was to investigate and develop through software simulation, physical modelling and testing the development of robotic subsystems that are required to provide autonomous robotic control for the thermal spraying process. Computer based modelling programs were developed to investigate the control strategy identified for the thermal spaying process. The algorithms included fifth order polynomial trajectories and the complete dynamic model where gravitational, inertia, centrifugal and coriolis torques are considered. Tests provide detail of the load torques that must be driven by the robot electric actuator for various structural changes to the thermal spraying robot and for variations in trajectory boundary conditions during thermal spraying. The non-linear and coupled forward and inverse kinematic equations of a five axis articulated robot with continuous rotation joints were developed and tested via computer based modelling and miniature physical robot modelling. Both the computer based modelling and physical model confirmed the closed form kinematic solutions. A solution to running cables through the continuous rotation joints for power and data is present which uses polytetrafloraethylene (PTFE) electroless nickel. This material was identified during the literature review of surface coating materials. It has excellent wear, friction and conductivity properties. Physical tests on a slip ring and brushes test rig using electroless nickel are presented which confirm the viability of using PTFE electroless nickel as a slip ring. Measurement of the substrate during thermal spraying so as to autonomously control the thermal spaying robot is a significant challenge. This research presents solutions for the measurement of the substrate using a low cost camera system and lasers in a single wavelength environment. Tests were carried out which resulted in the removal of a butane flame obscuring a test piece requiring measurement from the camera image so that substrate measurements can be made using image processing and analysis techniques such as canny edge detection and centroid measurements. Test results for the low cost vision system provide depth measure errors of ±0.6 % and structural measurements such as area and perimeter in the range -5% to -7.5%. These results confirm the efficacy of this novel flame removal technique

Index to 1981 NASA Tech Briefs, volume 6, numbers 1-4

Short announcements of new technology derived from the R&D activities of NASA are presented. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This index for 1981 Tech Briefs contains abstracts and four indexes: subject, personal author, originating center, and Tech Brief Number. The following areas are covered: electronic components and circuits, electronic systems, physical sciences, materials, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences