A Method of Drilling a Ground Using a Robotic Arm

Underground tunnel face bolting and pipe umbrella reinforcement are one of the most challenging tasks in construction whether industrial or not, and infrastructures such as roads or pipelines. It is one of the first sectors of economic activity in the world. Through a variety of soil and rock, a cyclic Conventional Tunneling Method (CTM) remains the best one for projects with highly variable ground conditions or shapes. CTM is the only alternative for the renovation of existing tunnels and creating emergency exit. During the drilling process, a wide variety of non-desired vibrations may arise, and a method using a robot arm is proposed. The main kinds of drilling through vibration here is the bit-bouncing phenomenon (resonant axial vibration). Hence, assisting the task by a robot arm may play an important role on drilling performances and security. We propose to control the axial-vibration phenomenon along the drillstring at a practical resonant frequency, and embed a Resonant Sonic Drilling Head (RSDH) as a robot end effector for drilling. Many questionable industry drilling criteria and stability are discussed in this paper

Integral Backstepping Approach for Mobile Robot Control

This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control

A novel aerial manipulation design, modelling and control for geometric com compensation

International audienceThis paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach

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

Trajectory reconstruction for robot programming by demonstration

The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by Demonstration gives a better opportunity for solving this problem by tracking the user’s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a Programming by Demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user’s movement with the ArToolkit and reconstructing the trajectories by using the constrained cubic spline. The results obtained with the constrained cubic spline were compared with cubic spline interpolation. Finally the obtained trajectories have been simulated in a virtual environment on the Puma 600 robot

Robots synchrones, vision et application

National audienceL'évolution des contraintes de production en termes de précision et de temps de cycle nécessite des performances robotiques de plus en plus grandes et une instrumentation de plus en plus intelligente. Les robots doivent donc comporter des fonctionnalités matérielles et logicielles permettant de dialoguer sous n'importe quel protocole de communication et doivent pouvoir s'interfacer avec n'importe quelle instrumentation, telle que les préhenseurs, les capteurs d'efforts, les systèmes de vision,..., etc. Par ailleurs, ces fonctionnalités sont prises en compte dans une phase étude en avant-projet dans une démarche de conception mécatronique optimisant ainsi les aspects mécaniques, automatiques et péri-robotiques. Dans notre dossier, nous allons aborder deux notions liées à ce que l'on appelle désormais la " robotique intelligente ". Ces deux notions sont les " robots synchrones " et la " vision industrielle "

A Method of Drilling a Ground Using a Robotic Arm

International audienceUnderground tunnel face bolting and pipe umbrella reinforcement are one of the most challenging tasks inconstruction whether industrial or not, and infrastructures such as roads or pipelines. It is one of the first sectors of economicactivity in the world. Through a variety of soil and rock, a cyclic Conventional Tunneling Method (CTM) remains the best onefor projects with highly variable ground conditions or shapes. CTM is the only alternative for the renovation of existing tunnelsand creating emergency exit. During the drilling process, a wide variety of non-desired vibrations may arise, and a methodusing a robot arm is proposed. The main kinds of drilling through vibration here is the bit-bouncing phenomenon (resonantaxial vibration). Hence, assisting the task by a robot arm may play an important role on drilling performances and security. Wepropose to control the axial-vibration phenomenon along the drillstring at a practical resonant frequency, and embed aResonant Sonic Drilling Head (RSDH) as a robot end effector for drilling. Many questionable industry drilling criteria andstability are discussed in this paper

Method of drilling a ground using a robobtic arm

The invention relates to a method of drilling a ground along a drilling direction, in which: at least one first and one second drilling tube (40, 42) are provided; an articulated and motorized manipulation arm (12) is provided, equipped with a gripping member (30); the first drilling tube (40) is grasped using the gripping member (30); the gripping member is moved along the drilling direction in order to sink the first drilling tube into the ground, the gripping member releases the first drilling tube; then the second drilling tube is grasped and the second drilling tube is fixed to the first drilling tube; and the gripping member is moved in order to sink the first and second drilling tubes into the ground