scholarly journals Reachy, a 3D-Printed Human-Like Robotic Arm as a Testbed for Human-Robot Control Strategies

2019 ◽  
Vol 13 ◽  
Author(s):  
Sébastien Mick ◽  
Mattieu Lapeyre ◽  
Pierre Rouanet ◽  
Christophe Halgand ◽  
Jenny Benois-Pineau ◽  
...  
Keyword(s):  
Robot Control ◽  
Control Strategies ◽  
Robotic Arm ◽  
3D Printed

scholarly journals DESIGN OF A 3D-PRINTED THREE-CLAW ROBOTIC GRIPPER END-EFFECTOR

2021 ◽  
Vol 11 (4) ◽  
pp. 70-79
Author(s):  
Dino Dominic Forte Ligutan ◽  
Argel Alejandro Bandala ◽  
Jason Limon Española ◽  
Richard Josiah Calayag Tan Ai ◽  
Ryan Rhay Ponce Vicerra ◽  
...  
Keyword(s):  
3D Printing ◽  
Polylactic Acid ◽  
Grip Force ◽  
Thermoplastic Polyurethane ◽  
Robotic Arm ◽  
End Effector ◽  
Design Considerations ◽  
3D Printed ◽  
Materials Used ◽  
Metal Work

The development of a novel 3D-printed three-claw robotic gripper shall be described in this paper with the goal of incorporating various design considerations. Such considerations include the grip reliability and stability, grip force maximization, wide object grasping capability. Modularization of its components is another consideration that allows its parts to be easily machined and reusable. The design was realized by 3D printing using a combination of tough polylactic acid (PLA) material and thermoplastic polyurethane (TPU) material. In practice, additional tolerances were also considered for 3D printing of materials to compensate for possible expansion or shrinkage of the materials used to achieve the required functionality. The aim of the study is to explore the design and eventually deploy the three-claw robotic gripper to an actual robotic arm once its metal work fabrication is finished.

Implementation and Validation of Thor 3D Printed Open Source Robotic Arm

2020 ◽  
Vol 18 (05) ◽  
pp. 907-913
Author(s):  
J. Costa ◽  
T. Machado ◽  
M. Carneiro
Keyword(s):  
Open Source ◽  
Robotic Arm ◽  
3D Printed

Inverse Kinematics Modelling and Simulation for Upper Case Writing Robot Control Using ANFIS

2016 ◽  
Vol 836 ◽  
pp. 37-41 ◽  
Author(s):  
Adlina Taufik Syamlan ◽  
Bambang Pramujati ◽  
Hendro Nurhadi
Keyword(s):  
Image Processing ◽  
Character Recognition ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Industrial Revolution ◽  
Training Data ◽  
Robotic Arm ◽  
End Effector ◽  
Precision And Accuracy ◽  
Case Writing

Robotics has lots of use in the industrial world and has lots of development since the industrial revolution, due to its qualities of high precision and accuracy. This paper is designed to display the qualities in a form of a writing robot. The aim of this study is to construct the system based on data gathered and to develop the control system based on the model. There are four aspects studied for this project, namely image processing, character recognition, image properties extraction and inverse kinematics. This paper served as discussion in modelling the robotic arm used for writing robot and generating theta for end effector position. Training data are generated through meshgrid, which is the fed through anfis.

scholarly journals HydraX, a 3D printed robotic arm for Hybrid Manufacturing. Part I: Custom Design, Manufacturing and Assembly

2020 ◽  
Vol 51 ◽  
pp. 103-108
Author(s):  
Agathoklis A. Krimpenis ◽  
Vasileios Papapaschos ◽  
Evgenios Bontarenko
Keyword(s):  
Robotic Arm ◽  
Hybrid Manufacturing ◽  
Custom Design ◽  
3D Printed

scholarly journals A family of robot control strategies for intermittent dynamical environments

1990 ◽  
Vol 10 (2) ◽  
pp. 16-22 ◽  
Author(s):  
M. Buhler ◽  
D.E. Koditschek ◽  
P.J. Kindlmann
Keyword(s):  
Robot Control ◽  
Control Strategies

Identification of Coulomb Friction in Robot Drives and Other Mechanical Systems Through Observation of Third Harmonic Generation

1994 ◽  
Vol 208 (5) ◽  
pp. 329-336 ◽  
Author(s):  
D J Brookfield
Keyword(s):  
Coulomb Friction ◽  
Robot Control ◽  
Control Strategies ◽  
Harmonic Component ◽  
Experimental Tests ◽  
Third Harmonic ◽  
The Third ◽  
Drive Systems ◽  
Driving Torque ◽  
Frictional Behaviour

One of the main difficulties in introducing improved robot control strategies is a lack of knowledge of the frictional behaviour of robot drive systems. The aim of the present paper is to describe a technique for the identification of Coulomb friction based on the response of the robot drive to a sinusoidal driving torque The presence of a third harmonic component in the resulting velocity is a consequence of the Coulomb non-linearity and it is shown theoretically, through computer simulation and in experimental tests, that the coefficient of Coulomb friction can be estimated from the amplitude of the third harmonic component. The identification method is shown to be applicable to any mechanical system that can be subjected to a sinusoidal forcing torque or force.

Development of PC-Based Simulation and Control Platform for a 6-DOF Robotic Arm

2014 ◽  
Vol 543-547 ◽  
pp. 1397-1400 ◽  
Author(s):  
Wen Zhe Wang ◽  
Shi Yue Liu ◽  
Qing Bo Geng ◽  
Qing Fei
Keyword(s):  
Motion Planning ◽  
Robot Control ◽  
Servo Control ◽  
Robotic Arm ◽  
Kinematic Scheme ◽  
Control Card ◽  
Point Motion ◽  
Real Robot ◽  
Point To Point ◽  
And Control

This paper developed a 6-DOF (degree of freedom) PC-Based robotic arm system. The system mainly include in software platform and servo control card, servo control card based on microcontroller STC12C5A60S2 was designed to drive the servomotor connected with each joint of robot. The software was implemented by combining MFC with OpenGL. By using the OpenGL functions, the software is able to draw and simulate the 3D kinematic scheme of the robot, it also provides 3D motion planning simulation feature. With the help of simulation in the GUI, users can visualize the manipulator motion planning. Furthermore, user also can control the real robotic arm through this software. Finally, point-to-point motion and continuous path motion are all tested in simulation and real robot control. The entire system has been successfully implemented.

scholarly journals Design, Analysis, and Comparison of Control Strategies for an Industrial Robotic Arm Driven by a Multi-Level Inverter

Symmetry ◽  
2021 ◽  
Vol 13 (1) ◽  
pp. 86
Author(s):  
Claudio Urrea ◽  
Daniel Jara
Keyword(s):  
Fuzzy Logic ◽  
Adaptive Control ◽  
Computer Simulations ◽  
Control Strategies ◽  
Gain Scheduling ◽  
Robotic Arm ◽  
Permanent Magnet Motor ◽  
Design And Implementation ◽  
Three Phase ◽  
Multi Level

In this article, we present the design and implementation of different control strategies for the position of a 2-Degree-of-Freedom (DoF) robotic arm, namely gain scheduling per trenches, gain scheduling by interpolation, adaptive control, and fuzzy logic. The first link of this robot is driven by an Alternating Current Brushless Permanent Magnet Motor (ACBPMM) through a three-phase multi-level inverter with 27 levels of voltage per phase. Thanks to the topologies offered by ACBPMMs and to the multi-level inverter, high commutation frequencies are reduced, as observed in the computer simulations. Additionally, to determine which proposed control strategies are the most suitable for an ACBPMM connected to a multi-level inverter, a comparative study on the performance of the controllers implemented for this robot is conducted.

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