Enhanced Whole-Arm Robot Teleoperation Using a Semi-Autonomous Control Policy

2014 ◽  
Vol 136 (3) ◽  
Author(s):  
Hsien-I Lin ◽  
Chi-Li Chen
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Control Policy ◽  
Joint Space ◽  
Autonomous Control ◽  
Robot Arm ◽  
End Effector ◽  
Human Control ◽  
Pose Control ◽  
6 Degrees Of Freedom

Previous work in robot teleoperation focused on the movement of a robot's end-effector by a human operator. However, a lack of pose control in teleoperation resulted in the robot arm frequently colliding with obstacles. Furthermore, even with pose control, it is still difficult for the robot to quickly and accurately move to the target due to mechanical discrepancies between human and robot. This paper proposes a semi-autonomous method to teleoperate the robot arm by integrating whole-arm teleoperation in joint-space control and autonomous end-effector position control. The proposed method is validated through experimental work on a robot arm with 6 degrees of freedom, with results showing significant improvement in human control for reaching for objects safely, quickly, and accurately.

scholarly journals EyeRobot: enabling telemedicine using a robot arm and a head-mounted display

2020 ◽  
Vol 6 (1) ◽  
Author(s):  
Kevin Yu ◽  
Thomas Wegele ◽  
Daniel Ostler ◽  
Dirk Wilhelm ◽  
Hubertus Feußner
Keyword(s):  
Pose Estimation ◽  
Degrees Of Freedom ◽  
Robot Arm ◽  
End Effector ◽  
Head Mounted Display ◽  
Local Site ◽  
Head Mounted Displays ◽  
Time Critical ◽  
6 Degrees Of Freedom ◽  
First Contact

AbstractTelemedicine has become a valuable asset in emergency responses for assisting paramedics in decision making and first contact treatment. Paramedics in unfamiliar environments or time-critical situations often encounter complications for which they require external advice. Modern ambulance vehicles are equipped with microphones, cameras, and vital sensors, which allow experts to remotely join the local team. However, the visual channels are rarely used since the statically installed cameras only allow broad views at the patient. They neither allow a close-up view nor a dynamic viewpoint controlled by the remote expert. In this paper, we present EyeRobot, a concept which enables dynamic viewpoints for telepresence using the intuitive control of the user’s head motion. In particular, EyeRobot utilizes the 6 degrees of freedom pose estimation capabilities of modern head-mounted displays and applies them in real-time to the pose of a robot arm. A stereo-camera, installed on the end-effector of the robot arm, serves as the eyes of the remote expert at the local site. We put forward an implementation of EyeRobot and present the results of our pilot study which indicates its intuitive control.

Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators

2020 ◽  
Author(s):  
Michael John Chua ◽  
Yen-Chen Liu
Keyword(s):  
Degrees Of Freedom ◽  
Null Space ◽  
Kinematic Model ◽  
Mobile Manipulator ◽  
Main Task ◽  
Mobile Manipulators ◽  
Robot Arm ◽  
Task Space ◽  
End Effector ◽  
Mobile Base

Abstract This paper presents cooperation and null-space control for networked mobile manipulators with high degrees of freedom (DOFs). First, kinematic model and Euler-Lagrange dynamic model of the mobile manipulator, which has an articulated robot arm mounted on a mobile base with omni-directional wheels, have been presented. Then, the dynamic decoupling has been considered so that the task-space and the null-space can be controlled separately to accomplish different missions. The motion of the end-effector is controlled in the task-space, and the force control is implemented to make sure the cooperation of the mobile manipulators, as well as the transportation tasks. Also, the null-space control for the manipulator has been combined into the decoupling control. For the mobile base, it is controlled in the null-space to track the velocity of the end-effector, avoid other agents, avoid the obstacles, and move in a defined range based on the length of the manipulator without affecting the main task. Numerical simulations have been addressed to demonstrate the proposed methods.

scholarly journals Detachable Robotic Grippers for Human-Robot Collaboration

2021 ◽  
Vol 8 ◽  
Author(s):  
Zubair Iqbal ◽  
Maria Pozzi ◽  
Domenico Prattichizzo ◽  
Gionata Salvietti
Keyword(s):  
Degrees Of Freedom ◽  
Tactile Feedback ◽  
Industrial Robots ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Hands ◽  
End Effector ◽  
External Power ◽  
Self Powered ◽  
Automatic Tool

Collaborative robots promise to add flexibility to production cells thanks to the fact that they can work not only close to humans but also with humans. The possibility of a direct physical interaction between humans and robots allows to perform operations that were inconceivable with industrial robots. Collaborative soft grippers have been recently introduced to extend this possibility beyond the robot end-effector, making humans able to directly act on robotic hands. In this work, we propose to exploit collaborative grippers in a novel paradigm in which these devices can be easily attached and detached from the robot arm and used also independently from it. This is possible only with self-powered hands, that are still quite uncommon in the market. In the presented paradigm not only hands can be attached/detached to/from the robot end-effector as if they were simple tools, but they can also remain active and fully functional after detachment. This ensures all the advantages brought in by tool changers, that allow for quick and possibly automatic tool exchange at the robot end-effector, but also gives the possibility of using the hand capabilities and degrees of freedom without the need of an arm or of external power supplies. In this paper, the concept of detachable robotic grippers is introduced and demonstrated through two illustrative tasks conducted with a new tool changer designed for collaborative grippers. The novel tool changer embeds electromagnets that are used to add safety during attach/detach operations. The activation of the electromagnets is controlled through a wearable interface capable of providing tactile feedback. The usability of the system is confirmed by the evaluations of 12 users.

Aerial Contact Manipulation With Soft End-Effector Compliance and Inverse Kinematic Compensation

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Xinjun Sheng ◽  
Zhao Ma ◽  
Ningbin Zhang ◽  
Wei Dong
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Mechanical Design ◽  
Impact Resistance ◽  
High Strength ◽  
Inverse Kinematic ◽  
End Effector ◽  
Precise Position ◽  
Positioning Errors ◽  
Aerial Platform

Abstract This paper presents the development of a six degrees-of-freedom manipulator with soft end-effector and an inverse kinematic compensator for aerial contact manipulation. Realizing the fact that aerial manipulators can hardly achieve precise position control, a compliant manipulator with soft end-effector is first developed to moderate end-effector positioning errors. The manipulator is designed to be rigid-soft combined. The rigid robotic arm employs the lightweight but high-strength materials. The compliance requirement is achieved by the soft end-effector so that the mechanical design for the joints are largely simplified. These two features are beneficial to lighten the arm and to ensure the accuracy. In the meantime, the pneumatic soft end-effector can further moderate the probable insufficient accuracy by endowing the manipulator with compliance for impact resistance and robustness to positioning errors. With the well-designed manipulator, an inverse kinematic compensator is then proposed to eliminate lumped disturbances from the aerial platform. The compensator can ensure the stabilization of the end-effector by using state estimation from the aerial platform, which is robust and portable as the movement of the platform can be reliably obtained. Both the accuracy and compliance have been well demonstrated after being integrated into a hexarotor platform, and a representative scenario aerial task repairing the wind turbine blade-coating was completed successfully, showing the potential to accomplish complex aerial manipulation tasks.

Motion Analysis and Research on Mobile Swing Type Manipulator

2012 ◽  
Vol 588-589 ◽  
pp. 194-197
Author(s):  
Ke Tao ◽  
Xing Liu
Keyword(s):  
Degrees Of Freedom ◽  
Linear Interpolation ◽  
Joint Space ◽  
Transformation Method ◽  
Inverse Transformation ◽  
Interpolation Theory ◽  
End Effector ◽  
Working Space ◽  
Space Coordinate ◽  
Operating Space

The working space and the end-effector pose of the two degrees of freedom mobile swing type manipulator are analyzed, through homogeneous coordinate transformation to establish the transformation relationship between operating space coordinate and each joint space coordinate, derived the end-effector pose matrix , using the inverse transformation method to seek motion reverse solution. Application of linear interpolation theory, doing trajectory planning for arbitrary movement path, show manipulator in its working space can realize arbitrary trajectory.

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 887-904 ◽  
Author(s):  
M. H. Korayem ◽  
M. Bamdad ◽  
H. Tourajizadeh ◽  
A. H. Korayem ◽  
R. M. Zehtab ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Parallel Robot ◽  
Joint Space ◽  
End Effector ◽  
Flexible Joint ◽  
Cable Robot ◽  
Six Dof ◽  
And Control ◽  
Computed Torque

SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an under-constrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.

Development of Robot Using Pneumatic Artificial Rubber Muscles to Operate Construction Machinery

2004 ◽  
Vol 16 (1) ◽  
pp. 8-16 ◽  
Author(s):  
Kenji Kawashima ◽  
◽  
Takahiro Sasaki ◽  
Toshiyuki Miyata ◽  
Naohiro Nakamura ◽  
...  
Keyword(s):  
Remote Control ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Experimental Results ◽  
Robot Arm ◽  
Static Characteristics ◽  
Additional Time ◽  
Forward Movement ◽  
Construction Machinery ◽  
6 Degrees Of Freedom

After disasters, remote control of construction machinery is often required to ensure the safety of workers during excavation. However, only limited numbers of remote-controlled construction machinery exist, and they are typically larger than conventional machinery. After a disaster, the transportation of such machinery takes additional time and is often troublesome. Therefore, it would be desirable to develop a remote-control system that could easily be installed on ordinary construction machinery. A pneumatic humanoid robot arm is in the process of being developed. While considering the portability issue, a lightweight fiber knitted pneumatic artificial rubber muscle (PARM) was selected as the actuator for the arm. This arm can be installed on all construction machinery models, can be controlled remotely, and has been designed for easy installation and portability. In this research, construction machinery was retrofitted with a pneumatic robot that enables it to be operated remotely. This robot has 6 degrees of freedom and utilizes the fiber knitted PARM. Experiments were conducted to measure the static characteristics of the new PARM and to measure their performance in the remote control of construction machinery. Experimental results showed that the developed system is able to achieve handling two levers of machinery, one that controls back and forward movement and the other that controls the bucket. Experimental results showed that the developed system successfully operated construction machinery remotely.

723 Application of 6-Degrees-of-Freedom Robot Arm to Endoscopic Surgery Using Touch Panel

2010 ◽  
Vol 2010.85 (0) ◽  
pp. _7-27_
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Keita KITANO ◽  
Tohru HIROSHIMA ◽  
Yasunori ICHIKAWA ◽  
...  
Keyword(s):  
Endoscopic Surgery ◽  
Degrees Of Freedom ◽  
Robot Arm ◽  
Touch Panel ◽  
6 Degrees Of Freedom
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