Noncontact hold and transfer control by a magnetic robot hand attached to a mobile robot with two independent drive wheels
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Abstract:
First, the structure of the trial production of the mechanical system of a noncontact hold and transfer control system consisting of a magnetic robot hand and a mobile robot with two independent drive wheels is expressed. Then, the state equation of the magnetic robot hand attached to the mobile robot is derived, and the robust noncontact hold control system with magnetic levitation control is designed by use of the mixed sensitivity method based on H/sub /spl infin// control theory. On the other hand, the disturbance observer for the mobile robot is designed using the equation of motion of the mobile robot, and the trajectory tracking control system of the mobile robot is constructed by use of PD control and the disturbance observer. Furthermore, the experimental results concerning the noncontact hold and transfer control of a steel sphere are demonstrated, and the usefulness of the present noncontact hold and transfer control system with the magnetic robot hand attached to the mobile robot is confirmed.Keywords:
Bang-bang robot
Cartesian coordinate robot
Magnetic Levitation
In this article, we propose a metric called hitting flux, which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of the workspace of the robot, the robot needs to come in contact with it at a nonzero relative speed. The configuration of the robot and the speed at contact matter because they affect the motion of the object. The physical quantity called hitting flux depends on the robot's configuration, the robot speed, and the properties of the environment. An approach to achieve the desired directional preimpact flux for the robot through a combination of a dynamical system for motion generation and a control system that regulates the directional inertia of the robot is presented. Furthermore, a quadratic program formulation for achieving a desired inertia matrix at a desired position while following a motion plan constrained to the robot limits is presented. The system is tested for different scenarios in simulation showing the repeatability of the procedure and in real scenarios with KUKA LBR iiwa 7 robot.
Bang-bang robot
Robot calibration
Work space
Cartesian coordinate robot
Articulated robot
Arm solution
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In the agriculture industry, scholars are increasingly paying attention to the advantages of hybrid robots and applying them in agricultural production. Agricultural products such as tree trunks or fruit stems is formed by growth. When the hybrid robot is working, It is easier to obtain the ideal end pose of the hybrid robot by describing the pose relationship of the robot end relative to the work object than the robot end relative to the world coordinate system. In order to realize the continuous motion control of the hybrid robot with a specified relative attitude relative to a certain plane in space, a method to realized planar motion based on 2SPU+U+RRR type five-degree-of-freedom hybrid robot position and attitude control is proposed. First, the trajectory of the task is discretized, according to the required posture, and the position and attitude matrix of each position on the trajectory is derived. Then through the inverse solution of the kinematic model, the five-degree-of-freedom hybrid robot is completely decoupled. The pose of the robot end is calculated to realize the plane motion control of the robot with a specified pose in Cartesian space according to the kinematic model of the hybrid robot based on the mechanism equivalent principle. Finally, the pose control method of the robot is tested. The experimental results show that the control method can realize the accurate planar motion control of the specified pose in Cartesian space during the repeated planar motion of the 2SPU+U+RRR type 5-DOF hybrid robot. This paper provides a five-degree-of-freedom hybrid robot theoretical model for the position and attitude synchronous motion control of arbitrary plane in Cartesian space.
Cartesian coordinate robot
Bang-bang robot
Robot calibration
Arm solution
Position (finance)
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Mobile robot application has reach more aspect of life in industry and domestic. One of the mobile robot types is a spherical robot whose components are shielded inside a rigid cell. The spherical robot is an interesting type of robot that combined the concept of a mobile robot and inverted pendulum for inner mechanism. This combination adds to more complex controller design than the other type of mobile robots. Aside from these challenges, the application of a spherical robot is extensive, from being a simple toy, to become an industrial surveillance robot. This paper discusses the mathematical analysis of the kinematics and dynamics motion analysis of a spherical robot. The analysis combines mobile robot and pendulum modeling as the robot motion generated by a pendulum mechanism. This paper is expected to give a complete discussion of the kinematics and dynamics motion analysis of a spherical robot.
Cartesian coordinate robot
Bang-bang robot
Robot calibration
Articulated robot
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Recently many various industrial robots are developed and used to widely diverse operations. Especially the developments and the studies of the articulated robot arm are growing up rapidly, because the articulated robot arm has a wide working area and has many various configurations of its attitude. Considering the motion control of the articulated robot arm, the robot arm can take a different trajectory of its configuration from the nitial configuration to the final configuration for each control scheme of the robot arm. In this study, the minimum time control of the articulated robot arm with two degrees of freedom from the initial configuration to the final configuration is considered. The minimum time optimal control cannot generate a closed loop system, so the disturbance of the system or the misidentification of the parameters of the robot arm directly degrade the performance of the control. In this study, the authors propose the following control of the optimal path that is generated by the minimum time optimal control theory and show the results of following control of the optimal path by driving the developmental apparatus of the articulated robot arm with two degrees of freedom.
Arm solution
Bang-bang robot
Cartesian coordinate robot
Snake-arm robot
Articulated robot
Industrial robot
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A macro-micro robot system is a conventional large robot (macro robot) plus a small robot (micro robot) mounted at the end point of the large robot. The macro robot carries the micro robot to the vicinity of the task, whilst the micro robot achieves the precise manipulation. Such a robot system can provide all the features of both the macro robot and the micro robot. In this investigation a planar two-link flexible robot is used as the macro-robot, an integrated laser-PSD transducer for measuring the position of the end-effector, and a micro robot consisting of translational and rotational joints for compensating for the dynamic path errors of the macro flexible robot in real time. Simulation and experimental results are given.
Arm solution
Robot end effector
Robot calibration
Bang-bang robot
Articulated robot
Cartesian coordinate robot
Snake-arm robot
Macro
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By experiment, this paper investigates effects of the robot position control using force information, which we previously proposed, for cooperative work between two remote robot systems with force feedback. As cooperative work, we deal with work in which a human and a robot arm in the system (i.e. human-robot) or two robot arms (robot-robot) carry an object together. Then, one robot arm which is operated automatically under the robot position control using force information follows a human or another robot arm. In our experiment, we compare force applied to the object between the human-robot and the robot-robot cases. In the robot-robot case, we also deal with the case in which the control is carried out in both systems, and the case in which the control is performed in only one system. Experimental results demonstrate that the human-robot case is the best among the three cases.
Bang-bang robot
Arm solution
Cartesian coordinate robot
Robot calibration
Social robot
Articulated robot
Personal robot
Snake-arm robot
Mobile Robot Navigation
Robot end effector
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This paper presents a 6-DOF robot arm system, proposed a strategy for solving the inverse kinematics equations, using the robot arm assembled by seven AI servos (RX-64), set up robot's coordinate system with the D-H notation method. The motion trajectory of a robot arm is calculated using the geometric analysis. It was considered as the length of robot arm and motion angle in the whole system. To adjust and drive the robot arm to the coordinates of folder and place between ones and the target object, make the angle of the shaft position can accurately locate the direction for all axes of the robot arm and obtain the optimal motion path. Finally, Matlab software was used to verify and compare the results of the inverse kinematics equations analysis with the experimental results. Under the experimental test, we position the object using the camera which was installed on robot arm, according to the attitude of the object, control the robot arm through the analysis result of inverse kinematics equation in order to make the robot arm achieve the action of exact grasping object. Finally, the robot arm system will be used on the meal service robot to serve for guests.
Arm solution
Cartesian coordinate robot
Robot calibration
Bang-bang robot
Robot end effector
Articulated robot
Kinematics equations
Forward kinematics
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This paper introduces the formation of tracking control on the Omni Robot so that it can navigate according to a predetermined trajectory by tracing the trajectory. The main objective is to simulate a tracking formation control system on a holonomic robot. The approach used is Leader-Follower using PID control. Through an overview of the kinematics design of the Omni robot, PID control will be used to obtain and control the speed value of each robot to maintain a position distance and maintain its formation while navigating. The robot system was built using the ROS platform and gazebo simulation to simulate multi-robot formation tracking. An OpenBase model with three omnidirectional wheels was used for this simulation. In the simulation, there is 1 robot as Leader and 3 robots as Follower. In this paper, it can be seen that a robot with Omni wheels can move with a holonomic system on several paths. In straight and diagonal paths, the movement of the follower robot experiences a delay of 6-seconds from the leader robot. While on the "S" paths, the movement of the follower robot experiences a delay of 16-seconds from the leader robot.
Holonomic
Robot calibration
Bang-bang robot
Cartesian coordinate robot
Tracking (education)
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In previous chapters we studied mathematical models of robot mechanisms. First of all we were interested in robot kinematics and dynamics. Before applying this knowledge to robot control, we must become familiar with the planning of robot motion. The aim of trajectory planning is to generate the reference inputs to the robot control system, which will ensure that the robot end-effector will follow the desired trajectory. Robot motion is usually defined in the rectangular world coordinate frame placed in the robot workspace most conveniently for the robot task. In the simplest task we only define the initial and the final point of the robot end-effector. The inverse kinematic model is then used to calculate the joint variables corresponding to the desired position of the robot end-effector.
Robot end effector
Robot calibration
Bang-bang robot
Cartesian coordinate robot
Work space
Arm solution
Articulated robot
Position (finance)
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This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.
Bang-bang robot
Arm solution
Robot calibration
Cartesian coordinate robot
Social robot
Articulated robot
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