A Synthesis Procedure for Design of 3-R Planar Robotic Workcells in Which Large Rotations Are Required at the Workpiece

1992 ◽  
Vol 114 (4) ◽  
pp. 547-558 ◽  
Author(s):  
J. K. Davidson
Keyword(s):  
Motion Planning ◽  
Computer Science ◽  
New Method ◽  
Motion Trajectory ◽  
End Effector ◽  
Radial Location ◽  
Full Turn ◽  
Large Rotations ◽  
Synthesis Procedure ◽  
Planar Robots

A new method is developed for determining both a satisfactory location of a workpiece and a suitable mounting-angle of the tool for planar 3-R robots that can provide dexterous workspace. The method is an adaptation of traditional techniques of linkage synthesis, and it is particularly well-suited to applications in which the motion-trajectory requires large rotations of the end-effector. It is determined that, when the trajectory requires that the end-effector rotate a full turn at just two locations and when the critical joint in the robot is rotatable by one turn, then the radial location of the workpiece is fixed in the workcell but its angular location is not fixed. When the mounting-angle of the tool is also a variable, the method accommodates trajectories in which the tool must rotate a full turn at three locations on the workpiece. The method can be applied not only to planar robots with three hinge-joints, but also to spatial robots, each with a planar 3-R module, when the principal attitudinal excursions of the trajectory are all about a set of parallel axes. Variables are identified, for both the motion-trajectory and the workpiece itself, which strongly affect the design of the workcell and the time for it to complete a motion-trajectory. Example problems illustrate the method. The new method is suggested as an alternative to the existing methods of computer science for motion-planning.

A Synthesis Method for Placing Workpieces in RPR Planar Robotic Workcells in Which Large Rotations Are Required at the Workpiece

1996 ◽  
Author(s):  
K. D. Chaney ◽  
J. K. Davidson
Keyword(s):  
Reference Frame ◽  
Synthesis Method ◽  
Analytical Representation ◽  
New Method ◽  
Two Dimensional ◽  
End Effector ◽  
Radial Location ◽  
Practical Applications ◽  
Full Turn ◽  
Large Rotations

Abstract A new method is developed for determining both a satisfactory location of a workpiece and a suitable mounting-angle of the tool for planar RPR robots that can provide dexterous workspace. The method is an analytical representation of the geometry of the robot and the task, and is particularly well suited to applications in which the task requires large rotations of the end-effector. It is determined that, when the task requires that the end-effector rotate a full turn at just two locations and when the first or third joint in the robot is rotatable by one turn, then the radial location of the workpiece is fixed in the workcell but its angular location is not fixed. When the mounting-angle of the tool is also a variable, the method accommodates tasks in which the tool must rotate a full turn at three locations on the workpiece. The results are presented as coordinates of points in a two-dimensional Cartesian reference frame attached to the workcell. Consequently, a technician or an engineer can determine the location for the workpiece by laying out these coordinates directly in the workcell. Example problems illustrate the method. Practical applications include welding and deposition of adhesives.

A Synthesis Method For Placing Workpieces In RPR Planar Robotic Workcells

1998 ◽  
Vol 120 (2) ◽  
pp. 262-268 ◽  
Author(s):  
K. D. Chaney ◽  
J. K. Davidson
Keyword(s):  
Reference Frame ◽  
Synthesis Method ◽  
New Method ◽  
Two Dimensional ◽  
End Effector ◽  
Radial Location ◽  
Practical Applications ◽  
The Third ◽  
Full Turn ◽  
Large Rotations

A new method is used for determining both a satisfactory location of a workpiece and a suitable mounting-angle of the tool for planar RPR robots that can provide dexterous workspace. All three joints of the robot have excursion-limits that bound their displacement. For the purposes of this paper, the third joint, a revolute, permits exactly one full turn. Successful locations for the workpiece are those places where the rotations at each task-axis and the third joint are synchronized. For a fixed mounting angle of the tool, the radial location and orientation of the workpiece are determined by just two 2π-rotations of the tool. When the mounting-angle of the tool is also a variable, the tool can be rotated a full turn at three locations on the workpiece. The method is particularly well suited to applications in which the task requires large rotations of the end-effector. The results are presented as coordinates of points in a two-dimensional Cartesian reference frame attached to the workcell. Consequently, a technician or an engineer can determine the location for the workpiece by laying out these coordinates directly in the workcell. Example problems illustrate the method. Practical applications include welding and deposition of adhesives.

Adaptive motion selection for online hand–eye calibration

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 529-536
Author(s):  
Jing Zhang ◽  
Fanhuai Shi ◽  
Yuncai Liu
Keyword(s):  
Motion Planning ◽  
Dynamic Threshold ◽  
Selection Algorithm ◽  
Robot System ◽  
End Effector ◽  
Threshold Determination ◽  
Robot Gripper ◽  
Adaptive Motion ◽  
Selection For ◽  
Relative Pose

SUMMARYWhile a robot moves, online hand–eye calibration to determine the relative pose between the robot gripper/end-effector and the sensors mounted on it is very important in a vision-guided robot system. During online hand–eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand–eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand–eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.

New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators

Robotica ◽  
2021 ◽  
pp. 1-22
Author(s):  
Limin Shen ◽  
Yuanmei Wen
Keyword(s):  
Theoretical Analysis ◽  
Motion Planning ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Repetitive Motion ◽  
End Effector ◽  
Difference Formula ◽  
Planning Scheme ◽  
Simulation Results ◽  
The Difference

Abstract Repetitive motion planning (RMP) is important in operating redundant robotic manipulators. In this paper, a new RMP scheme that is based on the pseudoinverse formulation is proposed for redundant robotic manipulators. Such a scheme is derived from the discretization of an existing RMP scheme by utilizing the difference formula. Then, theoretical analysis and results are presented to show the characteristic of the proposed RMP scheme. That is, this scheme possesses the characteristic of cube pattern in the end-effector planning precision. The proposed RMP scheme is further extended and studied for redundant robotic manipulators under joint constraint. Based on a four-link robotic manipulator, simulation results substantiate the effectiveness and superiority of the proposed RMP scheme and its extended one.

scholarly journals On Manipulation of Objects in Three-Fingered Grasp

1995 ◽  
Vol 117 (4) ◽  
pp. 561-565 ◽  
Author(s):  
D. P. Chevallier ◽  
S. Payandeh
Keyword(s):  
Reference Frame ◽  
New Method ◽  
Inner Product ◽  
Product Spaces ◽  
End Effector ◽  
Inner Product Spaces ◽  
Contact Points ◽  
Fixed Reference ◽  
Fine Manipulation

Manipulation of the grasped object is defined as the ability of the mechanical end-effector to create an instantaneous motion of the object with respect to a fixed reference frame (e.g., palm reference frame). This class of manipulation is usually referred to as the fine manipulation whereas a collection of all these instantaneous motions of the object is referred to as the gross manipulation. This paper presents a new method where for a given desired twist of the grasped object, the instantaneous motions of the fingertips can be determined. The results of the paper are divided into two parts. First, for the case where the motion of the object is created through motions of the fingertip in off-tangent planes to the object at the contact points. Second, where a class of motion of the grasped object is achieved through motions of the fingertips which are restricted to the tangent planes. The method of this paper utilizes screw geometry, inner product spaces and information regarding grasp configuration. The method is also illustrated through examples.

Inverse kinematics of free-floating space robots with minimum dynamic disturbance

Robotica ◽  
1996 ◽  
Vol 14 (6) ◽  
pp. 667-675 ◽  
Author(s):  
Fengfeng Xi
Keyword(s):  
Inverse Kinematics ◽  
New Method ◽  
Space Robots ◽  
Simple Fact ◽  
Generalized Jacobian ◽  
Space Manipulator ◽  
End Effector ◽  
Dynamic Disturbance ◽  
Space Manipulators

In this paper a new method is presented for solving the inverse kinematics of free-floating space manipulators. The idea behind the method is to move the space manipulator along a path with minimum dynamic disturbance. The method is proposed to use the manipulator Jacobian instead of the generalized Jacobian of the spacecraft-manipulator system. This is based on the simple fact that, if the space manipulator moves along the so-called Zero Disturbance Path (ZDP), the spacecraft is immovable. As a result, the space manipulator can in this case be treated as a terrestrial fixed-based manipulator. Hence, the motion mapping between the joints and the end-effector can be described directly by the manipulator Jacobian. In the case that the ZDP does not exist, it can be shown that the solutions obtained by the proposed method provide a path with minimum dynamic disturbance.

Grasp Motion Planning with Redundant DOF of Grasping Pose

2013 ◽  
Vol 25 (3) ◽  
pp. 538-544 ◽  
Author(s):  
Kazuyuki Nagase ◽  
◽  
Yasumichi Aiyama
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Target Object ◽  
Degree Of Freedom ◽  
New Method ◽  
Redundant Manipulators ◽  
Grasp Planning

In this paper, we propose a new method of grasp planning for a manipulator with a parallel jaw gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environments. In general, however, a redundant degree of freedom (DOF) is required to avoid obstacle and to grasp. In our proposal, we pay attention to redundant DOF in a grasping pose. Using redundant DOF in a grasping pose, a manipulator can avoid obstacles and grasp a target object. It does not require any redundant manipulators.

scholarly journals A new method for high speed and smooth transfer of robot motion trajectory

2016 ◽  
Vol 8 (3) ◽  
pp. 168781401663830 ◽  
Author(s):  
Haikuo Shen ◽  
Liangwei Jiang ◽  
Qinjian Zhang ◽  
Yong Tao ◽  
Yunan Cao
Keyword(s):  
High Speed ◽  
New Method ◽  
Robot Motion ◽  
Motion Trajectory

End-effector Motion Planning for One-Link Flexible Robot

2000 ◽  
Vol 33 (27) ◽  
pp. 315-320 ◽  
Author(s):  
M. Benosman ◽  
G. Le Vey
Keyword(s):  
Motion Planning ◽  
Flexible Robot ◽  
End Effector

A Theory for the Articulation of Planar Robots: Part II—Motion Planning Procedure for Interference Avoidance

1987 ◽  
Vol 109 (1) ◽  
pp. 37-41 ◽  
Author(s):  
L. Young ◽  
J. Duffy
Keyword(s):  
Motion Planning ◽  
Angular Displacement ◽  
Interference Avoidance ◽  
Planning Procedure ◽  
Planar Robots

This paper presents a motion planning procedure for planar robots which provides the robots with abilities to change flexure (i.e., to articulate) and hence to avoid interference with other robots or with obstacles. The angular displacement for each of the joints will be determined using those motion planning procedures.

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