Implementation of a High Specification Dual-Arm Robotic Platform to Meet Flexible Screening Needs

2007 ◽  
Vol 12 (2) ◽  
pp. 115-123 ◽  
Author(s):  
K MOORE ◽  
R NEWMAN ◽  
G CHAN ◽  
C LEECH ◽  
K ALLISON ◽  
...  
Keyword(s):  
Robotic Platform ◽  
Dual Arm

scholarly journals Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments

Robotics ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 62
Author(s):  
Stephen D. Monk ◽  
Alex Grievson ◽  
Manuel Bandala ◽  
Craig West ◽  
Allahyar Montazeri ◽  
...  
Keyword(s):  
Vision System ◽  
Inverse Kinematic ◽  
Operational Control ◽  
Robotic Platform ◽  
Remote Operation ◽  
Dose Limits ◽  
Operator Fatigue ◽  
Cutting Experiments ◽  
Jacobian Inverse ◽  
Dual Arm

We describe the implementation of a bespoke two arm hydraulically actuated robotic platform which is used to semi-autonomously cut approximately 50 mm diameter pipes of three different materials: cardboard, ABS plastic and aluminium. The system is designed to be utilised within radiologically active environments where human access is limited due to dose limits and thus remote operation is greatly beneficial. The remotely located operator selects the object from an image via a bespoke algorithm featuring a COTS 3 D vision system, along with the desired positions for gripping with one manipulator, and cutting with the other. A pseudo-Jacobian inverse kinematic technique and a programmable automation controller are used to achieve the appropriate joint positions within the dual arm robotic platform. In this article, we present the latest developments to the system and the lessons learnt from the new cutting experiments with a reciprocating saw. A comparison to tele-operated control and manual cutting is also made, with this technique shown to be slower than manual cutting, but faster than pure tele-operational control, where the requirements for highly trained users and operator fatigue are further deleterious factors.

Study on Trajectory Planning of Dual-arm Space Robot Keeping the Base Stabilized

2014 ◽  
Vol 39 (1) ◽  
pp. 69-80 ◽  
Author(s):  
Wen-Fu XU ◽  
Xue-Qian WANG ◽  
Qiang XUE ◽  
Bin LIANG
Keyword(s):  
Trajectory Planning ◽  
Space Robot ◽  
Dual Arm

scholarly journals Simulation of Grasp Localization Inferences for a Dual-Arm Collaborative Robot

2021 ◽  
Vol 1012 ◽  
pp. 012004
Author(s):  
A Josin Hippolitus ◽  
R. Senthilnathan ◽  
Omar Malla
Keyword(s):  
Collaborative Robot ◽  
Dual Arm

scholarly journals Digital Twin for Designing and Reconfiguring Human–Robot Collaborative Assembly Lines

2021 ◽  
Vol 11 (10) ◽  
pp. 4620
Author(s):  
Niki Kousi ◽  
Christos Gkournelos ◽  
Sotiris Aivaliotis ◽  
Konstantinos Lotsaris ◽  
Angelos Christos Bavelos ◽  
...  
Keyword(s):  
Production System ◽  
Assembly Lines ◽  
Flexible Assembly ◽  
Digital Twin ◽  
Collaborative Assembly ◽  
Geometrical Information ◽  
Line Level ◽  
Dual Arm ◽  
Different Levels

This paper discusses a digital twin-based approach for designing and redesigning flexible assembly systems. The digital twin allows modeling the parameters of the production system at different levels including assembly process, production station, and line level. The approach allows dynamically updating the digital twin in runtime, synthesizing data from multiple 2D–3D sensors in order to have up-to-date information about the actual production process. The model integrates both geometrical information and semantics. The model is used in combination with an artificial intelligence logic in order to derive alternative configurations of the production system. The overall approach is discussed with the help of a case study coming from the automotive industry. The case study introduces a production system integrating humans and autonomous mobile dual arm workers.

Food Peeling Method for Dual-arm Cooking Robot

2021 ◽  
Author(s):  
Chenyu Dong ◽  
Liangliang Yu ◽  
Masaru Takizawa ◽  
Shunsuke Kudoh ◽  
Takashi Suehiro
Keyword(s):  
Dual Arm

scholarly journals Robots for Elderly Care in the Home: A Landscape Analysis and Co-Design Toolkit

2021 ◽  
Author(s):  
Gianluca Bardaro ◽  
Alessio Antonini ◽  
Enrico Motta
Keyword(s):  
Large Scale ◽  
Daily Life ◽  
Elderly Care ◽  
Real Life ◽  
Robotic Platform ◽  
Holistic View ◽  
Personal Assistants ◽  
Healthcare Interventions ◽  
The Impact ◽  
The Eu

AbstractOver the last two decades, several deployments of robots for in-house assistance of older adults have been trialled. However, these solutions are mostly prototypes and remain unused in real-life scenarios. In this work, we review the historical and current landscape of the field, to try and understand why robots have yet to succeed as personal assistants in daily life. Our analysis focuses on two complementary aspects: the capabilities of the physical platform and the logic of the deployment. The former analysis shows regularities in hardware configurations and functionalities, leading to the definition of a set of six application-level capabilities (exploration, identification, remote control, communication, manipulation, and digital situatedness). The latter focuses on the impact of robots on the daily life of users and categorises the deployment of robots for healthcare interventions using three types of services: support, mitigation, and response. Our investigation reveals that the value of healthcare interventions is limited by a stagnation of functionalities and a disconnection between the robotic platform and the design of the intervention. To address this issue, we propose a novel co-design toolkit, which uses an ecological framework for robot interventions in the healthcare domain. Our approach connects robot capabilities with known geriatric factors, to create a holistic view encompassing both the physical platform and the logic of the deployment. As a case study-based validation, we discuss the use of the toolkit in the pre-design of the robotic platform for an pilot intervention, part of the EU large-scale pilot of the EU H2020 GATEKEEPER project.

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