Performance measurement of a mobile manipulator-on-a-cart and coordinate registration methods for manufacturing applications
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Abstract:
Mobile manipulators, which consist of a robotic manipulator arm on a vehicular base, enable more flexible and dynamic workflows in manufacturing processes by freeing the manipulator arm from the restriction of working on a single, calibrated workspace. A mobile manipulator-on-cart further enhances job concurrency since the manipulator arm is mounted to a detachable cart rather than directly to the vehicle payload structure. With this increase in flexibility, there is a need to understand new sources of position and orientation uncertainty. This uncertainty can degrade the accuracy and precision of the mobile manipulator position and orientation in addition to the coordination capability between the manipulator and vehicle. To facilitate performance evaluation and uncertainty characterization, the National Institute of Standards and Technology (NIST) has developed an artifact-based measurement methodology for mobile manipulator-on-a-cart systems. The artifact, which is re-configurable, simulates mock-assembly tasks for manufacturing applications, and is compared to a ground truth consisting of an optical tracking system (OTS). This report documents experimental procedures, data analysis methods, and results in measuring the performance of the manipulator-on-a-cart system. The speed and accuracy of two example coordinate registration techniques to be used by the mobile manipulator-on-a-cart to reduce position and orientation uncertainty are also compared.Keywords:
Mobile manipulator
Work space
Payload (computing)
Artifact (error)
Position (finance)
Work space
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This paper take one kind of 3-UPS PKM(parallel kinematic machine) as the research object,has studied this PKM workspace characteristic,and separately analyzed the restraint organization the variation in the length of various rods and the range of variation in the corner of various joints to the workspace shape influence situation.Through studies it to restraint organization the design parameter to the machine workspace influence obtained conclusion,regarding determined this PKM the workspace shape,as well as carries on the machine according to the workspace size the structure size design all to have the vital significance.
Work space
Variation (astronomy)
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The workspaces and kinematic characterization of serial chain manipulator geometries and the geometric optimization have been studied extensively. Much less is known about workspaces for manipulation systems which possess several serial chains arranged in parallel. In this paper, two well known workspaces, the reachable workspace and the dexterous workspace, are investigated for parallel manipulators. A general method for obtaining these workspaces is presented. The existence of numerous special configurations in the workspace present problems in manipulator control. Therefore the controllably dexterous workspace is proposed as a useful measure of kinematic performance. The methodology of delineating the workspaces and its limitations are illustrated with examples.
Work space
Characterization
Serial manipulator
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For mobile manipulation robots, the selection of a suitable base position is important to perform a given task. It guarantees that the manipulation points are reachable and that the number of base positions can be minimized. In this work, a geometrical motivated representation of the workspace is introduced. Therefore, the workspace is split into several tori. For this efficient torus-based workspace representation it can be checked if a given target position is within the workspace. In addition, based upon this representation an optimization problem is formulated, that is capable to find optimal base positions for reaching three-dimensional target points. Its applicability to a list of target points of a real-world inspection task scenario is shown. This can be used to reduce the number of repositioning during the task.
Work space
Mobile manipulator
Representation
Base (topology)
Position (finance)
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Since parallel manipulators have relatively small workspace when compared to serial manipulators, it is important to determine the workspace in the design stage. However, due to the complexity of the closed-loop chain mechanism, the determination of the workspace is difficult. In this paper, a fully geometrical method for the determination of the workspace of 6-DOF parallel manipulators is presented using the concept of a 4-bar linkage. The reachable and dexterous workspace can be determined from the proposed algorithm. In order to evaluate the workspace, each leg is considered as an open chain, and two kinematic constraints-position and mechanism constraints-are developed. The proposed method is verified by simulation.
Work space
Serial manipulator
Position (finance)
Chain (unit)
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The knowledge of the workspace for a robotic system on construction sites represents an essential resource to ensure the work progress, guarantee the safety of the construction tasks, and avoid robot damage. Despite the dramatic development of 3D printing technologies with robotic systems in recent years, these are still several challenges to consider, such as the size of the printing profile and obstacles in the construction site. This work presents the results from evaluating the workspace of a mobile manipulator in 3D printing tasks on construction sites. The methodology analyses the printing workspace based on the workspace of the mobile manipulator, considering fixed obstacles and possible collisions between the robot and obstacles during 3D printing tasks. The results showed that the shape of the printing profile defined as a building element changes the shape of the printing workspace. Furthermore, the obstacles in the construction site and height variation of the printing profile cause changes in the displacement of the robotic platform and values of rotation of its joints, which also modify the shape of the printing workspace.
Work space
Mobile manipulator
Obstacle avoidance
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This paper proposes a surgical manipulator with workspace-conversion ability for both minimally invasive surgery (MIS) and open surgery. The focus of the proposed surgical manipulator is on its potential use in places such as battlefields, army camps, and rural areas rather than in civilian hospitals. The proposed surgical manipulator has a workspace for MIS with a virtual remote center of motion and has a workspace for open surgery like that of an articulated manipulator. The mechanism of the surgical manipulator is proposed and implemented in this paper. A new distal rolling joint with two spiral wire ropes is also implemented. Several experiments to validate the feasibility of the surgical manipulator were carried out. Two fundamentals of laparoscopic surgery tasks were performed to compare the performance of the surgical manipulator with other MIS systems. The workspace conversion from MIS to open surgery was implemented. The workspace-conversion ability enables the surgical manipulator to attach or detach the surgical tool unit without human assistance or an assistant robot.
Work space
Mobile manipulator
Manipulator (device)
Surgical robot
Invasive surgery
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Workspace is an essential index of parallel mechanism.Compared to parallel mechanisms actuated by rigid limbs,cable-driven parallel mechanisms have larger workspace as an outstanding merit.The relationship between the workspace and the position where the cables are anchored on the moving platform is discussed.The static model of cable-driven parallel mechanism is set up and the constant workspace of 3-DOF planar mechanism driven by 4 cables is analyzed.After that,the parameters of the cables anchoring on the moving platform are modeled,and the parameters are optimized to realize the biggest constant orientation workspace.The optimized parameters of the planar mechanism have larger workspace than the conventional plane configuration.
Work space
Constant (computer programming)
Position (finance)
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