Visual-servoing of a six-degree-of-freedom robotic manipulator for automated microassembly task execution

2008 ◽  
Vol 7 (3) ◽  
pp. 033017 ◽  
Author(s):  
James K. Mills
Keyword(s):  
Visual Servoing ◽  
Robotic Manipulator ◽  
Degree Of Freedom ◽  
Task Execution ◽  
Six Degree Of Freedom

scholarly journals Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142090807
Author(s):  
Sandi Baressi Šegota ◽  
Nikola Anđelić ◽  
Ivan Lorencin ◽  
Milan Saga ◽  
Zlatan Car
Keyword(s):  
Genetic Algorithm ◽  
Simulated Annealing ◽  
Differential Evolution ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Degree Of Freedom ◽  
Joint Torques ◽  
Point To Point ◽  
Computation Algorithms ◽  
Six Degree Of Freedom

Lowering joint torques of a robotic manipulator enables lowering the energy it uses as well as increase in the longevity of the robotic manipulator. This article proposes the use of evolutionary computation algorithms for optimizing the paths of the robotic manipulator with the goal of lowering the joint torques. The robotic manipulator used for optimization is modelled after a realistic six-degree-of-freedom robotic manipulator. Two cases are observed and these are a single robotic manipulator carrying a weight in a point-to-point trajectory and two robotic manipulators cooperating and moving the same weight along a calculated point-to-point trajectory. The article describes the process used for determining the kinematic properties using Denavit–Hartenberg method and the dynamic equations of the robotic manipulator using Lagrange–Euler and Newton–Euler algorithms. Then, the description of used artificial intelligence optimization algorithms is given – genetic algorithm using random and average recombination, simulated annealing using linear and geometric cooling strategy and differential evolution. The methods are compared and the results show that the genetic algorithm provides best results in regard to torque minimization, with differential evolution also providing comparatively good results and simulated annealing giving the comparatively weakest results while providing smoother torque curves.

Intuitive gesture-based control system with collision avoidance for robotic manipulators

2020 ◽  
Vol 47 (2) ◽  
pp. 243-251
Author(s):  
Grant Rudd ◽  
Liam Daly ◽  
Filip Cuckov
Keyword(s):  
Control System ◽  
Real Time ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Obstacle Detection ◽  
Simulation Software ◽  
Degree Of Freedom ◽  
Leap Motion ◽  
Content Type ◽  
Six Degree Of Freedom

Purpose This paper aims to present an intuitive control system for robotic manipulators that pairs a Leap Motion, a low-cost optical tracking and gesture recognition device, with the ability to record and replay trajectories and operation to create an intuitive method of controlling and programming a robotic manipulator. This system was designed to be extensible and includes modules and methods for obstacle detection and dynamic trajectory modification for obstacle avoidance. Design/methodology/approach The presented control architecture, while portable to any robotic platform, was designed to actuate a six degree-of-freedom robotic manipulator of our own design. From the data collected by the Leap Motion, the manipulator was controlled by mapping the position and orientation of the human hand to values in the joint space of the robot. Additional recording and playback functionality was implemented to allow for the robot to repeat the desired tasks once the task had been demonstrated and recorded. Findings Experiments were conducted on our custom-built robotic manipulator by first using a simulation model to characterize and quantify the robot’s tracking of the Leap Motion generated trajectory. Tests were conducted in the Gazebo simulation software in conjunction with Robot Operating System, where results were collected by recording both the real-time input from the Leap Motion sensor, and the corresponding pose data. The results of these experiments show that the goal of accurate and real-time control of the robot was achieved and validated our methods of transcribing, recording and repeating six degree-of-freedom trajectories from the Leap Motion camera. Originality/value As robots evolve in complexity, the methods of programming them need to evolve to become more intuitive. Humans instinctively teach by demonstrating the task to a given subject, who then observes the various poses and tries to replicate the motions. This work aims to integrate the natural human teaching methods into robotics programming through an intuitive, demonstration-based programming method.

scholarly journals Multifunctional Technology of Flexible Manufacturing on a Mechatronics Line with IRM and CAS, Ready for Industry 4.0

Processes ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 864
Author(s):  
Adriana Filipescu ◽  
Dan Ionescu ◽  
Adrian Filipescu ◽  
Eugenia Mincă ◽  
Georgian Simion
Keyword(s):  
Flexible Manufacturing ◽  
Industry 4.0 ◽  
Autonomous System ◽  
Visual Servoing ◽  
Robotic Manipulator ◽  
Control Architecture ◽  
End Effector ◽  
Work Station ◽  
Six Degree Of Freedom ◽  
And Control

A communication and control architecture of a multifunctional technology for flexible manufacturing on an assembly, disassembly, and repair mechatronics line (A/D/RML), assisted by a complex autonomous system (CAS), is presented in the paper. A/D/RML consists of a six-work station (WS) mechatronics line (ML) connected to a flexible cell (FC) equipped with a six-degree of freedom (DOF) industrial robotic manipulator (IRM). The CAS has in its structure two driving wheels and one free wheel (2 DW/1 FW)-wheeled mobile robot (WMR) equipped with a 7-DOF robotic manipulator (RM). On the end effector of the RM, a mobile visual servoing system (eye-in-hand VSS) is mounted. The multifunctionality is provided by the three actions, assembly, disassembly, and repair, while the flexibility is due to the assembly of different products. After disassembly or repair, CAS picks up the disassembled components and transports them to the appropriate storage depots for reuse. Technology operates synchronously with signals from sensors and eye-in-hand VSS. Disassembling or repairing starts after assembling and the final assembled product fails the quality test. Due to the diversity of communication and control equipment such as PLCs, robots, sensors or actuators, the presented technology, although it works on a laboratory structure, has applications in the real world and meets the specific requirements of Industry 4.0.

Iterative feedback control based on frequency response model for a six-degree-of-freedom micro-vibration platform

2021 ◽  
pp. 107754632199731
Author(s):  
He Zhu ◽  
Shuai He ◽  
Zhenbang Xu ◽  
XiaoMing Wang ◽  
Chao Qin ◽  
...  
Keyword(s):  
Feedback Control ◽  
Frequency Response ◽  
Control Strategy ◽  
Degree Of Freedom ◽  
Small Displacement ◽  
Response Model ◽  
Parameter Uncertainties ◽  
Micro Vibration ◽  
Six Degree Of Freedom ◽  
Iterative Feedback

In this article, a six-degree-of-freedom (6-DOF) micro-vibration platform (6-MVP) based on the Gough–Stewart configuration is designed to reproduce the 6-DOF micro-vibration that occurs at the installation surfaces of sensitive space-based instruments such as large space optical loads and laser communications equipment. The platform’s dynamic model is simplified because of the small displacement characteristics of micro-vibrations. By considering the multifrequency line spectrum characteristics of micro-vibrations and the parameter uncertainties, an iterative feedback control strategy based on a frequency response model is designed, and the effectiveness of the proposed control strategy is verified by performing integrated simulations. Finally, micro-vibration experiments are performed with a 10 kg load on the platform. The results of these micro-vibration experiments show that after several iterations, the amplitude control errors are less than 3% and the phase control errors are less than 1°. The control strategy presented in this article offers the advantages of a simple algorithm and high precision and it can also be used to control other similar micro-vibration platforms.

Sign in / Sign up

Export Citation Format

Share Document