Mobile Manipulator Performance Measurement Towards Manufacturing Assembly Tasks
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Mobile manipulator
Artifact (error)
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Mobile manipulator
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This paper introduces a dual-arm mobile manipulator in which two manipulators are mounted atop a wheeled mobile platform. Combination of the two arms' manipulation capability and mobility provided by the locomotion can extend its applicability to a broader field of application. Here we present the structure and control scheme of the mobile manipulator system developed. We also discuss how the two manipulators and locomotion can be coordinated in order to execute a given task in a meaningful manner.
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This paper describes the development of a novel laparoscope manipulator using the medical linear actuators, called P-arm. The manipulator is composed of a Stewart-cough Platform with six degrees of freedom and six hydraulic linear actuators, and can hold a general laparoscope. In the current prototype, the position of a laparoscope can be controlled through a joystick interface. To evaluate the performance of this newly developed manipulator, an experiment was conducted in which a surgeon used the manipulator to perform an in-vitro laparoscopic cholecys-tectomy simulation. As a result, the manipulator could replace a human assistant during the operation. The arm part of the manipulator is lightweight (approximately 580 [g] ), compact, producible at a low price, and sterilized. Therefore, the manipulator can be manufactured as a disposable item. This new concept produces the following excellent characteristics. First, it does not obstruct the surgeon's operation. Second, setting the manipulator in the medical treatment site is easy. Finally, the manipulator need not be maintained.
Manipulator (device)
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This paper presents a fundamental study of remote manipulator system, to be applied to the assembling precise and small parts, the handling of medical samples in a culture cabinet and so on.This system consists of a small and precise slave manipulator and a master manipulator of which the size is adapted to a human operator. Displacement of the master manipulator is reduced and transferred to the slave manipulator, and a small force acting on the slave manipulator is magnified and feed back to the master manipulator.In this paper, the construction of the manipulators is explained and to take advantage of their manoeuvrability, new control methods of the master arm and the gripper are proposed. The usefulness of the methods are confirmed experimentally.
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We propose a mobile manipulator with another detachable mobile hand to extend the work area and the manipulation ability such as multiple manipulators. The detachable mobile hand is developed and evaluated by some experiments to grasp an object outside the work area of a single manipulator. As the results, We confirmed the proposed system can grasp the object by cooperation of the mobile manipulator and the detachable mobile hand. This paper describes the developed mechanism in detail and reports experimental results using a real robot in a real environment.
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To construct a practical system using a mobile manipulator, a new mobile manipulator with exchangeable active/passive joints has been developed by authors. In the mobile manipulator, passive joints play an important role in absorbing the mobile positioning error and reducing the internal force passively. By utilizing the exchangeable active/passive joints, a control algorithm. for automatic insertion of a long pipe based only on the angular information of the passive joints is proposed. By implementing the algorithm to the mobile manipulator, the insertion task was performed successfully. The proposed control algorithm is described and the experimental results are shown in this paper.
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脚型プラットフォームにマニピュレータの搭載された, 移動マニピュレータの制御方法を提案する。数ある移動プラットフォームの中でも, 脚移動型はプラットフォーム自体の持つ自由度が多い反面, その分関節数が多く, また搭載可能となる負荷も小さい。これを一般の冗長自由度マニピュレータと同様に定式化すると, 制御が複雑となり, 得られる結果も直感的に把握し難くなることから, 本報では, 脚部, 腕部を別システムとして捉え, センサ情報に応じて, それぞれの機能にふさわしい評価指標を自動的に設定するシステムを提案する。
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In order to obtain the essence relation between mobile platform and manipulator, wheeled mobile manipulator's optimal configuration was discussed based on simplified mobile manipulator and equivalent mass matrix, then the relation between the direction of maximal manipulability and mobility manipulator's configurations was derived. The relation will be a base for further investigating mobile manipulator's coordination.
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In this study, we propose a tele-operated mobile manipulator for conducting underfloor work, including both inspection and repair. We focus on a caulking operation, and develop a mobile manipulator for finding and repairing cracks in a foundation. When designing the mobile manipulator, we consider a typical narrow underfloor environment, and perform detailed calculations. As a user interface, we furnish an image-pointing system for enabling us to operate the manipulator simply by clicking on a hand camera image. Then, we evaluate its performance based on navigation experiments, trajectory tracking experiments, and overall evaluation experiments.
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The work is devoted to the development of the control system for the specialized manipulator of the robotic mobile platform. The construction of the manipulator is considered and it's functioning when moving containers is described. The structure of the control system of the manipulator is developed and its subsystems are presented. The electrical scheme of the automaton for moving the rod with an electromagnet during loading and unloading of containers is proposed. A method of containers positioning when they are moved by a manipulator has been developed.
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