Abstract: Since the vision system application in industrial environment for autonomous purposes is required intensely, the image recognition technique becomes an important research topic. Here, deep learning algorithm is employed in image system to recognize the industrial object and integrate with a 7A6 Series Manipulator for object automatic gripping task. PC and Graphic Processing Unit (GPU) are chosen to construct the 3D Vision Recognition System. Depth Camera (Intel RealSense SR300) is employed to extract the image for object recognition and coordinate derivation. The YOLOv2 scheme is adopted in Convolution neural network (CNN) structure for object classification and center point prediction. Additionally, image processing strategy is used to find the object contour for calculating the object orientation angle. Then, the specified object location and orientation information are sent to robotic controller. Finally, a six-axis manipulator can grasp the specific object in a random environment based on the user command and the extracted image information. The experimental results show that YOLOv2 has been successfully employed to detect the object location and category with confidence near 0.9 and 3D position error less than 0.4 mm. It is useful for future intelligent robotic application in industrial 4.0 environment.
Abstract: In this paper, an observer-based direct adaptive fuzzy sliding mode (OAFSM) algorithm is proposed. In the proposed algorithm, the zero-input dynamics of the plant could be unknown. The input connection matrix is used to combine the sliding surfaces of individual subsystems, and an adaptive fuzzy algorithm is used to estimate an equivalent sliding mode control input directly. The fuzzy membership functions, which were determined by time consuming try and error processes in previous works, are adjusted by adaptive algorithms. The other advantage of the proposed controller is that the input gain matrix is not limited to be diagonal, i.e. the plant could be over/under actuated provided that controllability and observability are preserved. An observer is constructed to directly estimate the state tracking error, and the nonlinear part of the observer is constructed by an adaptive fuzzy algorithm. The main advantage of the proposed observer is that, the measured outputs is not limited to the first entry of a canonical-form state vector. The closed-loop stability of the proposed method is proved using a Lyapunov-based approach. The proposed method is applied numerically on a multi-link robot manipulator, which verifies the performance of the closed-loop control. Moreover, the performance of the proposed algorithm is compared with some conventional control algorithms.
Abstract: This paper presents design and analysis of an electrothermally symmetrical actuated microgripper applicable for performing micro assembly or biological cell manipulation. Integration of micro-optics with microdevice leads to achieve extremely precise control over the operation of the device. Geometry, material, actuation, control, accuracy in measurement and temperature distribution are important factors which have to be taken into account for designing the efficient microgripper device. In this work, analyses of four different geometries are performed by means of COMSOL Multiphysics 5.2 with implementing Finite Element Methods. Then, temperature distribution along the fingertip, displacement of gripper site as well as optical efficiency vs. displacement and electrical potential are illustrated. Results show in addition to the industrial application of this device, the usage of that as a cell manipulator is possible.
Abstract: Eating a meal is among the Activities of Daily Living,
but it takes a lot of time and effort for people with physical
or functional limitations. Dedicated technologies are cumbersome
and not portable, while general-purpose assistive robots such as
wheelchair-based manipulators are too hard to control for elaborate
continuous motion like eating. Eating with such devices has not
previously been automated, since there existed no description of
a feeding motion for uncontrolled environments. In this paper, we
introduce a feeding mode for assistive manipulators, including a
mathematical description of trajectories for motions that are difficult
to perform manually such as gathering and scooping food at a
defined/desired pace. We implement these trajectories in a sequence
of movements for a semi-automated feeding mode which can be
controlled with a very simple 3-button interface, allowing the user
to have control over the feeding pace. Finally, we demonstrate the
feeding mode with a JACO robotic arm and compare the eating
speed, measured in bites per minute of three eating methods: a
healthy person eating unaided, a person with upper limb limitations
or disability using JACO with manual control, and a person with
limitations using JACO with the feeding mode. We found that the
feeding mode allows eating about 5 bites per minute, which should
be sufficient to eat a meal under 30min.
Abstract: In this paper, we have developed a sliding mode
controller for PUMA 600 manipulator robot, to control the remote
robot a teleoperation system was developed. This system includes
two sites, local and remote. The sliding mode controller is installed
at the remote site. The client asks for a position through an interface
and receives the real positions after running of the task by the remote
robot. Both sites are interconnected via the Internet. In order to verify
the effectiveness of the sliding mode controller, that is compared with
a classic PID controller. The developed approach is tested on a virtual
robot. The results confirmed the high performance of this approach.
Abstract: Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.
Abstract: This paper illustrates the concept of an algorithm to register specified markers on the neuroArm surgical manipulators, an image-guided MR-compatible tele-operated robot for microsurgery and stereotaxy. Two range-finding algorithms, namely time-of-flight and phase-shift, are evaluated for registration and supervisory control. The time-of-flight approach is implemented in a semi-field experiment to determine the precise position of a tiny retro-reflective moving object. The moving object simulates a surgical tool tip. The tool is a target that would be connected to the neuroArm end-effector during surgery inside the magnet bore of the MR imaging system. In order to apply flight approach, a 905-nm pulsed laser diode and an avalanche photodiode are utilized as the transmitter and receiver, respectively. For the experiment, a high frequency time to digital converter was designed using a field-programmable gate arrays. In the phase-shift approach, a continuous green laser beam with a wavelength of 530 nm was used as the transmitter. Results showed that a positioning error of 0.1 mm occurred when the scanner-target point distance was set in the range of 2.5 to 3 meters. The effectiveness of this non-contact approach exhibited that the method could be employed as an alternative for conventional mechanical registration arm. Furthermore, the approach is not limited by physical contact and extension of joint angles.
Abstract: The newest Canadian Used Fuel Container (UFC)- (called also “Mark II”) modifies the design approach for its Assembly Robotic Cell (ARC) in the Canadian Used (Nuclear) Fuel Packing Plant (UFPP). Some of the robotic design solutions are presented in this paper. The design indicates that robots and manipulators are expected to be used in the Canadian UFPP. As normally, the UFPP design will incorporate redundancy of all equipment to allow expedient recovery from any postulated upset conditions. Overall, this paper suggests that robot usage will have a significant positive impact on nuclear safety, quality, productivity, and reliability.
Abstract: The robot manipulator is an equipment that stands out for two reasons: Firstly because of its characteristics of movement and reprogramming, resembling the arm; secondly, by adding several areas of knowledge of science and engineering. The present work shows the development of the prototype of a robotic manipulator driven by a Programmable Logic Controller (PLC), having two degrees of freedom, which allows the movement and displacement of mechanical parts, tools, and objects in general of small size, through an electronic system. The aim is to study direct and inverse kinematics of the robotic manipulator to describe the translation and rotation between two adjacent links of the robot through the Denavit-Hartenberg parameters. Currently, due to the many resources that microcomputer systems offer us, robotics is going through a period of continuous growth that will allow, in a short time, the development of intelligent robots with the capacity to perform operations that require flexibility, speed and precision.
Abstract: Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.
Abstract: Image segmentation is the concept of splitting the images into several images. Image Segmentation algorithm is used to manipulate the process of image segmentation. The advantage of ABC is that it conducts every worldwide exploration and inhabitant exploration for iteration. Particle Swarm Optimization (PSO) and Evolutionary Particle Swarm Optimization (EPSO) encompass a number of search problems. Cleverness Artificial Bee Colony algorithm has been imposed to increase the performance of a neighborhood search. The simulation results clearly show that the presented ABC methods outperform the existing methods. The result shows that the algorithms can be used to implement the manipulator for grasping of colored objects. The efficiency of the presented method is improved a lot by comparing to other methods.
Abstract: Control of some mechanisms is hard because of their complex dynamic equations. If part of the complexity is resulting from uncertainties, an efficient way for solving that is robust control. By this way, the control procedure could be simple and fast and finally, a simple controller can be designed. One kind of these mechanisms is 3-RRR which is a parallel mechanism and has three revolute joints. This paper aims to robust control a 3-RRR planner mechanism and it presents that this could be used for other mechanisms. So, a significant problem in mechanisms control could be solved. The relevant diagrams are drawn and they show the correctness of control process.
Abstract: This paper presents the effect of actuation schemes on the performance of parallel manipulators and also how the singularity loci have been changed in the reachable workspace of the manipulator with the choice of actuation scheme to drive the manipulator. The performance of the eight possible actuation schemes of 3RRR planar parallel manipulator is compared with each other. The optimal design problem is formulated to find the manipulator geometry that maximizes the singularity free conditioned workspace for all the eight actuation cases, the optimization problem is solved by using genetic algorithms.
Abstract: This paper presents a computationally efficient method
for the modeling of robot manipulators with flexible links and
joints. This approach combines the Discrete Time Transfer Matrix
Method with the Finite Segment Method, in which the flexible
links are discretized by a number of rigid segments connected by
torsion springs; and the flexibility of joints are modeled by torsion
springs. The proposed method avoids the global dynamics and has the
advantage of modeling non-uniform manipulators. Experiments and
simulations of a single-link flexible manipulator are conducted for
verifying the proposed methodologies. The simulations of a three-link
robot arm with links and joints flexibility are also performed.
Abstract: This paper presents the trajectory tracking control of a
spatial redundant hybrid manipulator. This manipulator consists of
two parallel manipulators which are a variable geometry truss (VGT)
module. In fact, each VGT module with 3-degress of freedom (DOF)
is a planar parallel manipulator and their operational planes of these
VGT modules are arranged to be orthogonal to each other. Also, the
manipulator contains a twist motion part attached to the top of the
second VGT module to supply the missing orientation of the endeffector.
These three modules constitute totally 7-DOF hybrid
(parallel-parallel) redundant spatial manipulator. The forward
kinematics equations of this manipulator are obtained, then,
according to these equations, the inverse kinematics is solved based
on an optimization with the joint limit avoidance. The dynamic
equations are formed by using virtual work method. In order to test
the performance of the redundant manipulator and the controllers
presented, two different desired trajectories are followed by using the
computed force control method and a switching control method. The
switching control method is combined with the computed force
control method and genetic algorithm. In the switching control
method, the genetic algorithm is only used for fine tuning in the
compensation of the trajectory tracking errors.
Abstract: This paper addresses the control problem of a class of hyper-redundant arms. In order to avoid discrepancy between the mathematical model and the actual dynamics, the dynamic model with uncertain parameters of this class of manipulators is inferred. A procedure to design a feedback controller which stabilizes the uncertain system has been proposed. A PD boundary control algorithm is used in order to control the desired position of the manipulator. This controller is easy to implement from the point of view of measuring techniques and actuation. Numerical simulations verify the effectiveness of the presented methods. In order to verify the suitability of the control algorithm, a platform with a 3D flexible manipulator has been employed for testing. Experimental tests on this platform illustrate the applications of the techniques developed in the paper.
Abstract: For a rigid body sliding on a rough surface, a range of
uncertainty or non-uniqueness of solution could be found, which is
termed: Painlevé paradox. Painlevé paradox is the reason of a wide
range of bouncing motion, observed during sliding of robotic
manipulators on rough surfaces. In this research work, the existence
of the paradox zone during the sliding motion of a two-link (P-R)
robotic manipulator with a unilateral constraint is investigated.
Parametric study is performed to investigate the effect of friction,
link-length ratio, total height and link-mass ratio on the paradox zone.
Abstract: This paper presents modeling and simulation of
flexible robot in an underwater environment. The underwater
environment completely contrasts with ground or space environment.
The robot in an underwater situation is subjected to various dynamic
forces like buoyancy forces, hydrostatic and hydrodynamic forces.
The underwater robot is modeled as Rayleigh beam. The developed
model further allows estimating the deflection of tip in two
directions. The complete dynamics of the underwater robot is
analyzed, which is the main focus of this investigation. The control of
robot trajectory is not discussed in this paper. Simulation is
performed using Symbol Shakti software.
Abstract: The sea waves carry thousands of GWs of power
globally. Although there are a number of different approaches to
harness offshore energy, they are likely to be expensive, practically
challenging, and vulnerable to storms. Therefore, this paper considers
using the near shore waves for generating mechanical and electrical
power. It introduces two new approaches, the wave manipulation and
using a variable duct turbine, for intercepting very wide wave fronts
and coping with the fluctuations of the wave height and the sea level,
respectively. The first approach effectively allows capturing much
more energy yet with a much narrower turbine rotor. The second
approach allows using a rotor with a smaller radius but captures
energy of higher wave fronts at higher sea levels yet preventing it
from totally submerging. To illustrate the effectiveness of the first
approach, the paper contains a description and the simulation results
of a scale model of a wave manipulator. Then, it includes the results
of testing a physical model of the manipulator and a single duct, axial
flow turbine in a wave flume in the laboratory. The paper also
includes comparisons of theoretical predictions, simulation results,
and wave flume tests with respect to the incident energy, loss in wave
manipulation, minimal loss, brake torque, and the angular velocity.
Abstract: Image segmentation and color identification is an
important process used in various emerging fields like intelligent
robotics. A method is proposed for the manipulator to grasp and place
the color object into correct location. The existing methods such as
PSO, has problems like accelerating the convergence speed and
converging to a local minimum leading to sub optimal performance.
To improve the performance, we are using watershed algorithm and
for color identification, we are using EPSO. EPSO method is used to
reduce the probability of being stuck in the local minimum. The
proposed method offers the particles a more powerful global
exploration capability. EPSO methods can determine the particles
stuck in the local minimum and can also enhance learning speed as
the particle movement will be faster.