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Automated robot trajectory planning for spray painting of free-form surfaces in automotive manufacturing

Automated robot trajectory planning for spray painting of fr...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Heping Chen Weihua Sheng Ning Xi Mumin Song Yifan Chen Electrical and Computer Engineering Department Michigan State University East Lansing MI USA Scientific Research Lab Ford Motor Company Limited Dearborn MI USA

Automatic trajectory generation for spray painting is highly desirable for today's automotive manufacturing. Generating paint gun trajectories for free-form surfaces to satisfy paint thickness requirements is still highly challenging due to the complex geometry of free-from surfaces. In this paper, a CAD-guided paint gun trajectory generation system for free-form surfaces has been developed. A paint thickness verification method is also provided to verify the generated trajectories. The results of experiments and simulations show that the trajectory generation system achieves satisfactory performance. This trajectory generation system can also be applied to generate trajectories for many other CAD-guided robot trajectory planning applications.

关键词： robotics and automation Trajectory Spraying Painting Automotive engineering Paints Geometry Computer aided manufacturing Manufacturing automation Education

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A novel evolutionary PD control and application for trajectory tracking

A novel evolutionary PD control and application for trajecto...

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： P.R. Ouyang W.J. Zhang Department of Mechanical Engineering University of Saskatchewan Saskatoon SAS Canada

In this paper, a novel evolutionary PD (EPD) control to improve the tracking performance is proposed and applied to the trajectory tracking of a closed-loop robot manipulator. The EPD control can incorporate the dynamic information of manipulator in a very plain way without requiring the knowledge of the robot dynamics, and it is simple and effective for the trajectory tracking. Comparison of the EPD control with some other PD-based controls for several different structures of manipulators is made. Simulation study demonstrates that the EPD control is promising in robot manipulator applications for trajectory tracking compared with the PD/NPD controls.

关键词： PD control Trajectory Manipulator dynamics Torque control Orbital robotics Velocity control Control systems Tracking Robot control Error correction

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Augmented state Kalman filtering for AUV navigation

Augmented state Kalman filtering for AUV navigation

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IEEE international conference on robotics and automation (ICRA)

作者： R. Garcia J. Puig P. Ridao X. Cufi Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position.

关键词： Kalman filters Filtering Navigation Motion estimation Underwater vehicles Oceans Remotely operated vehicles Cameras Sea floor State estimation

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Optimized binary modular reconfigurable robotic devices

Optimized binary modular reconfigurable robotic devices

引用

IEEE international conference on robotics and automation (ICRA)

作者： M. Hafez M.D. Lichter S. Dubowsky Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

Binary robotic devices with large numbers of degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex, and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematics structure. Its binary actuation simplifies its control architecture. Analytical and experimental results for a practical prototype system are presented.

关键词： Actuators Robot sensing systems Orbital robotics Kinematics Cameras Polymers Mechanical engineering Magnetic analysis Prototypes Surgery

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Using a PRM planner to compare centralized and decoupled planning for multi-robot systems

Using a PRM planner to compare centralized and decoupled pla...

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IEEE international conference on robotics and automation (ICRA)

作者： G. Sanchez J.-C. Latombe Computer Science Department ITESM Cuernavaca México Computer Science Department Stanford University Stanford CA USA

Describes experiments with a probabilistic roadmap planner (PRM) on a spot-welding station with 2 to 6 robot manipulators combining 12 to 36 degrees of freedom. When performing centralized planning, the planner has proven to be reliable and fast. When performing decoupled planning, it was not significantly faster, but it was much less reliable, failing to find a solution 30 to 75% of the times in 6-robot examples. This is an important result as it invalidates the assumption that the loss of completeness in performing decoupled planning is not very substantial in practice and indicates that centralized planning is a more desirable approach-at least in applications like spot-welding, which requires rather tight robot coordination.

关键词： Multirobot systems Robot kinematics Path planning Motion planning Orbital robotics Welding Computer science Manipulators Bidirectional control Clamps

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Modular robot system architecture

Modular robot system architecture

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： Z.M. Bi W.J. Zhang S.Y.T. Lang Department of Mechanical Engineering University of Saskatchewan Saskatoon Canada Integrated Manufacturing Technologic Institute National Research Council London Canada

In comparison with dedicated robot systems, the main goal of modular robot systems is to achieve system adaptability by providing various modular configuration variations to meet possible task requirements. System architecture determines the system configuration variations, as the architecture specifies primary building blocks and the types of ways they are connected. In order to make systems more adaptive, configuration variations are expected to be as many as possible subject to the constraints of machining manufacturing applications. This paper reported briefly our recent research progresses on modular robot system architecture, including: (1) a proposed strategy to achieve high system adaptability; (2) a systematic method to develop modular system architecture; (3) the general representation of modular robot configurations.

关键词： robotics and automation Manufacturing Robot vision systems Robot sensing systems Control systems Adaptive systems Sensor systems Force sensors Robotic assembly Service robots

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Recognizing hand posture by vision: applications in humanoid personal robotics

Recognizing hand posture by vision: applications in humanoid...

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IEEE international conference on robotics and automation (ICRA)

作者： C. Laschi M. Gonzalo-Tasis J.F. Codes P. Dario Arts Lab (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pisa Italy Humanoid Robotics Institute Waseda University Tokyo Japan Eca-Simm Group Department of Computer Science University of Valladolid Spain Department of Algebra Geometry and Topology University of Valladolid Spain

In the development of humanoid personal robots, accompanying the life of humans in their everyday activities, vision is no doubt an extremely important sensory capability to provide the robots with. We propose the application of robot vision to the identification of hand posture, as a first step in gesture detection, for two main classes of reasons: 1) the recognition of human hand posture can help human-robot interaction, especially in relation to 'teaching by demonstration'; 2) the recognition of the robot hand can allow visual servoing, especially helpful in environments and tasks with a high level of uncertainty. The paper presents the development of a vision system for hand posture recognition, by describing the basic algorithmic implementation, based on symbolic representations, and reporting the experimental results obtained in the recognition of a three-fingered robotic hand.

关键词： Humanoid robots Robot vision systems Robot kinematics Robot sensing systems Human robot interaction Visual servoing Education robotics and automation Grasping Subspace constraints

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Minimum jerk trajectory control for rehabilitation and haptic applications

Minimum jerk trajectory control for rehabilitation and hapti...

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IEEE international conference on robotics and automation (ICRA)

作者： F. Amirabdollahian R. Loureiro W. Harwin THRIL-the Human Robot Interface Laboratory Department of Cybernetics University of Reading Reading UK

Smooth trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain the upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

关键词： Haptic interfaces Polynomials Acceleration Rehabilitation robotics Human robot interaction Cybernetics Face Robot control Medical treatment Helium

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Design and development of an underwater vehicle with the structure mounted on spheres

Design and development of an underwater vehicle with the str...

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： G.N. Rajasegaran G.Z. Taha S. Ramachandran Faculty of Engineering University Malaya

In this work, design and development of an underwater mobile vehicle structure suitable for an underwater mobile robot is described. The mobile structure is constructed from aluminum plates with openings to reduce the resistance to flow of water as the structure traverses its path. Two longitudinal and transverse shafts are used to hold the spheres. The structure is designed and fabricated so that the spheres contact the ground and act as wheels to provide mobility. An underwater motor, through proper transmission provides the, drive for the spheres. The mobile structure is tested for its mobility on the floor and inside water. The speed of the structure on land is more than that inside water. Based on initial results, it is proposed to conduct further tests to check the mobility of the structure at various depths in the forward and reverse directions. Specific advantages of the new design are simple construction with a few mechanical components and simple controls. This design of the underwater structure is very cost effective and can be used in many underwater applications.

关键词： Underwater vehicles Service robots Mobile robots Orbital robotics robotics and automation Robot control Wheels Testing Costs Water resources

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Task-consistent obstacle avoidance and motion behavior for mobile manipulation

Task-consistent obstacle avoidance and motion behavior for m...

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IEEE international conference on robotics and automation (ICRA)

作者： O. Brock O. Khatib S. Viji Robotics Laboratory Department of Computer Science Standford University Stanford CA USA

applications in mobile manipulation require sophisticated motion execution skills to address issues like redundancy resolution, reactive obstacle avoidance, and transitioning between different motion behaviors. The elastic strip framework is an approach to reactive motion generation providing an integrated solution to these problems. Novel techniques within the elastic strip framework are presented, allowing task-consistent obstacle avoidance and task-consistent motion behavior. General transition criteria and methods are presented, permitting the suspension and resumption of task execution to ensure other desired motion behavior, such as obstacle avoidance. Task execution has to be suspended when kinematic constraints or changes in the environment render task-consistent motion behavior infeasible. Task execution is resumed as soon as it is consistent with other desired motion behaviors.

关键词： Strips Robot kinematics Mobile computing Orbital robotics Mobile robots Manipulator dynamics Laboratories Computer science Application software Motion planning

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