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Pay-load estimation of a 2DOF flexible link robot using a delta-operator technique

Pay-load estimation of a 2DOF flexible link robot using a de...

引用

IEEE conference on Control Technology and applications (CCTA)

作者： M. Rostgaard N.K. Poulsen O. Ravn Department of Mathematical Modelling Technical University of Denmark Kongens Lyngby Denmark ODepartment of Automation Technical University of Denmark Kongens Lyngby Denmark

The paper presents a new method for online identification of pay-loads for a two-link flexible robot. The method benefits from the close correspondence between parameters of a discrete-time model represented by means of the Delta-Operator, and those of the underlying continuous-time model. Although the applied principle might be general in nature, the paper is applied to the well-known problem of identifying a pay-load of a moving flexible robot. This problem is almost impossible to solve by measurements, so an estimation technique must be applied. The presented method benefits from the close correspondence with the continuous-time representation to allow a scalar and implicit adaptive technique which based on flexibility measurements leads to the online estimation of the pay-load.

关键词： Robots Strain measurement robotics and automation Actuators Vibration control Gravity Position measurement Mathematical model Manipulators Time measurement

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Pleated pneumatic artificial muscles: actuators for automation and robotics

Pleated pneumatic artificial muscles: actuators for automati...

引用

IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： F. Daerden D. Lefeber B. Verrelst R. Van Ham Department of Mechanical Engineering /Multibody Mechanics Group Vrije Universiteit Brussel Brussels Belgium

ISBN: (纸本)0780367367

Reports on a type of pneumatic artificial muscles (PAMs) that was developed at the Vrije Universiteit Brussel, Department of Mechanical Engineering. Its distinguishing feature is its pleated design. Due to this, it has a very high contraction force and an equally high travel. The weight of these pleated PAMs is very low: a muscle of only 60 gr can pull up to 3500 N and contract by 42%. Furthermore, dry friction and associated hysteresis, typical of many other designs, is avoided by the folding-unfolding action. This significantly simplifies position control using these actuators. Although the force-displacement characteristics of our actuators are non-linear, they can be effectively controlled using basic linear PI techniques. Another advantage of these actuators is their inherent and controllable compliance, making them ideally suited for walking/running machines or whenever delicate tasks, e.g. handling fragile objects, have to be performed. In view of all characteristics pleated PAMs are very well suited for automation and robotic applications.

关键词： Muscles Pneumatic actuators Automatic control robotics and automation Mechanical engineering Contracts Friction Hysteresis Position control Hydraulic actuators

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Compact and portable 3D camera for space applications

Compact and portable 3D camera for space applications

引用

international conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： E. Harvey M. Arsenault J.-F. Lavoie B. Belanger M.-A. Boucher INO Sainte-Foy QUE Canada

ISBN: (纸本)0769509843

This paper presents a new compact and portable 3D camera for space applications. The system is based on a very compact laser line profiler coupled to a 6-DOF positioning device. An advanced prototype of the system is described and scanning results are presented. Future works related to the development of this technology are also discussed.

关键词： Cameras Space technology Machine vision Orbital robotics Robot vision systems Inspection Optical sensors Space stations Humans Design automation

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Existence of feedbacks from sensing to action for stable grasping and dexterous manipulation by multi-fingered robot hands

Existence of feedbacks from sensing to action for stable gra...

引用

IEEE conference on Control Technology and applications (CCTA)

作者： S. Arimoto K. Tahara M. Yamaguchi Department of Robotics Ritsumeikan University Kusatsu Shiga Japan

This paper derives lumped-parameter dynamics of motion of a pair of robot fingers with soft and deformable tips pinching a rigid object. The dynamics of the system in which area contacts between the finger-tips and the surfaces of the object arise are compared with those of a pair of rigid robot fingers having rigid contacts with an object. It is then shown that even in the simplest case of dual single degree-of-freedom fingers there exists a sensory feedback from measurement of finger joint angles and the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes stable grasping of the object, provided that the object is a rectangular parallelepiped and the motion is confined to a horizontal plane. It is further shown that in the case of a pair of 1-DOF and 2-DOF fingers with soft tips there exists a sensory feedback that realizes not only stable grasping but also regulating the posture of the object at a specified rotational angle.

关键词： Feedback Fingers Robot sensing systems robotics and automation Grasping Humans Actuators Manufacturing Intelligent robots Springs

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A Java application based on an EXPRESS model for sharing flexible manufacturing resources data

A Java application based on an EXPRESS model for sharing fle...

引用

international conference on Emerging Technologies and Factory automation (ETFA)

作者： O. Lopez-Ortega Centro de Investigación Avanzada en Ingenieria Industrial Universidad Autónoma del Estado de Hidalgo Pachuca Mexico

ISBN: (纸本)0780372417

This paper describes a Java application based upon an EXPRESS meta model, that is used to share and exchange flexible manufacturing resources data. It is described how manufacturing activities require data from machine-tools, robots, automated storage/retrieval systems and AGVs, against the fact that computer-based applications like CAD, CAM, CAPP or PAC use proprietary formats to store flexible manufacturing resources data. These proprietary formats lead to incompatibilities and interoperability problems among them. It is argued that by solving these problems great functional synergy will result during manufacturing planning and execution activities. A STEP-based information system, implemented in several hundreds Java classes, is proposed as a solution to facilitate data sharing and exchanging of flexible manufacturing resources.

关键词： Java Flexible manufacturing systems Computer aided manufacturing Application software Manufacturing automation Pulp manufacturing Virtual manufacturing robotics and automation Storage automation Information retrieval

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Micro parallel robot MIPS for medical applications

Micro parallel robot MIPS for medical applications

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： J.-P. Merlet I.N.R.I.A. Sophia Antipolis France

ISBN: (纸本)0780372417

MIPS is a micro robot with a parallel mechanical architecture having three degrees of freedom (one translation and two orientations) that allow fine positioning of a surgical tool. The purpose of MIPS is to act as an active wrist at the tip of an endoscope and to provide to the surgeon an accurate tool that may furthermore offer a partial force-feedback. The current prototype has a diameter of 7 mm for a length of 2.5 cm and includes all the necessary hardware. We will explain why a parallel architecture has be chosen, the method of optimal design that has been used for determining the dimensions of the robot and present the current prototype.

关键词： Parallel robots Medical services Biomedical equipment Prototypes Medical robotics Surgery Wrist Endoscopes Surges Hardware

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Stable 3-D visual servoing: an experimental comparison

Stable 3-D visual servoing: an experimental comparison

引用

IEEE conference on Control Technology and applications (CCTA)

作者： M.A. Moreno Wen Yu A.S. Poznyak Escuela de Ingenĺeria Laboratorio de Investigación y Desarrollo de Tecnologia Avanzada Universidad de La Salle Mexico Departamento de Control Automdtico CINVESTAV Mexicali Mexico

We propose a new 3-D visual servoing method. By using Lyapunov theorem, we conclude that this 3-D visual servoing approach is stable with some uncertainties. The experimental comparison of 3-D vision is realized by a ... 详细信息

关键词： Visual servoing Cameras Jacobian matrices Stability Robot kinematics Service robots Robot vision systems robotics and automation Charge coupled devices Charge-coupled image sensors

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Control of a snake robot in consideration of constraint force

Control of a snake robot in consideration of constraint forc...

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IEEE conference on Control Technology and applications (CCTA)

作者： H. Date M. Sampei S. Nakaura Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Meguro Tokyo Japan

This paper deals with an autonomous locomotion of a snakelike articulated robot with passive wheels. Using the non-slip condition of the wheels, the robot gains propulsion by means of constraint forces on the wheels caused by bending the joints. Our goal is to achieve the so-called serpentine movement known to be an effective gait on a flat ground with automatic gait generation, i.e., without giving any winding gait beforehand. We utilize a notion of manipulability to evaluate the locomotability and propose a controller capable of reducing the constraint forces. The results of simulations show that smooth winding motion is achieved.

关键词： Force control Mobile robots Wheels robotics and automation Robot kinematics Control systems Automatic control Propulsion Shape Systems engineering and theory

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Robust range estimation using acoustic and multimodal sensing

Robust range estimation using acoustic and multimodal sensin...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： L. Girod D. Estrin UCLA USA

Many applications of robotics and embedded sensor technology can benefit from fine-grained localization. Fine-grained localization can simplify multi-robot collaboration, enable energy efficient multi-hop routing for low-power radio networks, and enable automatic calibration of distributed sensing systems. We focus on range estimation, a critical prerequisite for fine-grained localization. While many mechanisms for range estimation exist, any individual mode of sensing can be blocked or confused by the environment. We present and analyze an acoustic ranging system that performs well in the presence of many types of interference, but can return incorrect measurements in non-line-of-sight conditions. We then suggest how evidence from an orthogonal sensory channel might be used to detect and eliminate these measurements. The work illustrates the more general research theme of combining multiple modalities to obtain robust results.

关键词： Robustness Multimodal sensors Acoustic measurements Robot sensing systems robotics and automation Acoustic sensors Collaboration Energy efficiency Spread spectrum communication Routing

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3D rectilinear motion planning with minimum bend paths

3D rectilinear motion planning with minimum bend paths

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： R. Fitch Z. Butler D. Rus Department of Computer Science Dartmouth College USA

Computing rectilinear shortest paths in two dimensions has been solved optimally using a number of different techniques. A variety of related problems have been solved, including minimizing the number of bends in the path, the total rectilinear distance, or some combination of both. However, solutions to the 3D versions of these problems are less common. We propose a solution to the 3D minimum-bend path problem, which has theoretical as well as practical interest. applications include motion planning problems where straight line motion is preferred over taking arbitrary turns. We employ our results in motion planning for self-repair in self-reconfigurable robots.

关键词： Path planning Motion planning Robots Shortest path problem Automatic control Motion control Computer science Educational institutions robotics and automation Machining

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