• Title/Summary/Keyword: 7-function manipulator

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Evaluation of Performance Index of Dual-arm manipulator for Multiple Shape Object Handling (Multiple Shape Object Handling을 위한 양팔로봇의 성능지수 평가)

  • Son, Joon-Bae;Chen, Hu;Lee, Jang-Myung
    • The Journal of Korea Robotics Society
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    • v.7 no.1
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    • pp.9-19
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    • 2012
  • This paper proposes a performance index for the multiple shape object handling of dual arm manipulator to determine whether a robot is good or not. When the dual-arm manipulator grasps a fixed object and is posed, the dual-arm manipulator should procure a space to freely control the manipulator. As a performance evaluation parameter, each joint torque from current sensor signal is utilized. From the current information, torque and energy for each joint are estimated. In this paper an performance index for an unstructured object is defined by an energy-cost function, and stability analysis for each motion is derived by the maximum force to the object. The maximum force to the object is computed by the inertia of object and acceleration information of end-effector. The acceleration data are derived by the double derivation of each encoder signal. Manipulability measure which implies how efficiently the dual-arm manipulator can move with the grasped object, can be represented by the intersection of the two manipulability ellipsoids for the left and right arms. Effectiveness of the proposed algorithm has been verified through the practical simulations and real experiments.

Design of Multiple Sliding Surface Control System for a Quadrotor Equipped with a Manipulator (매니퓰레이터 장착 쿼드로터를 위한 다중 슬라이딩 평면 제어의 시스템 설계)

  • Hwang, Nam Eung;Park, Jin Bae;Choi, Yoon Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.7
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    • pp.502-507
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    • 2016
  • In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange-Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

Seven axis modular type pneumatic manipulator development (7축 모듈라형 공기압 매니퓰레이터 개발)

  • 김동수;김용채;김형의
    • 제어로봇시스템학회:학술대회논문집
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    • 1991.10a
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    • pp.968-973
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    • 1991
  • Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

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Development of Robot Platform for Autonomous Underwater Intervention (수중 자율작업용 로봇 플랫폼 개발)

  • Yeu, Taekyeong;Choi, Hyun Taek;Lee, Yoongeon;Chae, Junbo;Lee, Yeongjun;Kim, Seong Soon;Park, Sanghyun;Lee, Tae Hee
    • Journal of Ocean Engineering and Technology
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    • v.33 no.2
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    • pp.168-177
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    • 2019
  • KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

Inverse Kinematics Analysis of 7-DOF Anthropomorphic Robot Arm using Conformal Geometric Algebra (등각 기하대수를 이용한 7자유도 로봇 팔의 역기구학 해석)

  • Kim, Je-Seok;Ji, Yong-Kwan;Park, Jahng-Hyon
    • Journal of the Korean Society for Precision Engineering
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    • v.29 no.10
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    • pp.1119-1127
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    • 2012
  • In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm's end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation.

An Adaptive Tracking Control for Robotic Manipulators based on RBFN

  • Lee, Min-Jung;Jin, Tae-Seok
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.7 no.2
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    • pp.96-101
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    • 2007
  • Neural networks are known as kinds of intelligent strategies since they have learning capability. There are various their applications from intelligent control fields; however, their applications have limits from the point that the stability of the intelligent control systems is not usually guaranteed. In this paper we propose an adaptive tracking control for robot manipulators using the radial basis function network (RBFN) that is e. kind of neural networks. Adaptation laws for parameters of the RBFN are developed based on the Lyapunov stability theory to guarantee the stability of the overall control scheme. Filtered tracking errors between actual outputs and desired outputs are discussed in the sense of the uniformly ultimately boundedness(UUB). Additionally, it is also shown that parameters of the RBFN are bounded. Experimental results for a SCARA-type robot manipulator show that the proposed adaptive tracking controller is adaptable to the environment changes and is more robust than the conventional PID controller and the neuro-controller based on the multilayer perceptron.

Inverse Kinematics Solution and Optimal Motion Planning for Industrial Robots with Redundancy (여유 자유도를 갖는 산업용 로봇의 역기구학 해석 및 최적 동작 계획)

  • Lee, Jong-Hwa;Kim, Ja-Young;Lee, Ji-Hong;Kim, Dong-Hyeok;Lim, Hyun-Kyu;Ryu, Si-Hyun
    • The Journal of Korea Robotics Society
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    • v.7 no.1
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    • pp.35-44
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    • 2012
  • This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

An analysis Inverse Kinematics for Real Time Operation of Industrial Robot (산업용 로봇의 실시간 운용을 위한 역기구학 해석)

  • 이용중
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.7 no.1
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    • pp.104-111
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    • 1998
  • This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is known, the other joint angles are calculated by the algebraic methods. $ heta$1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

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Robust Hybrid Control for Uncertain Robot Manipulators (불확실 로봇 시스템의 견실 하이브리드 제어기 설계)

  • Han, Myung-Chul
    • Journal of the Korean Society for Precision Engineering
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    • v.14 no.7
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    • pp.73-81
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    • 1997
  • An new class of robust position/force hybrid control law is proposed for uncertain robot manipulators. The uncertainty is nonlinear and (plssibly fast) time-varying. Therefore, the uncertain factors such as imper- fect modeling, friction, payload change, and external disturbance are all addressed. Based on the possible bound of the uncertainty, the controller is constructed and the stability study based on Lyapunov function is presented. To show that the proposed control laws are indeed applicable, the theoretical result is applied to a SCARA-type robot manipulator and simulation result is presented.

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Design of High Payload Dual Arm Robot with Replaceable Forearm Module for Multiple Tasks: Human Rescue and Object Handling (임무에 따른 하박 교체형 고 가반하중 양팔로봇의 설계: 구난 및 물체 핸들링)

  • Kim, Hwisu;Park, Dongil;Choi, Taeyong;Do, Hyunmin;Kim, Doohyeong;Kyung, Jinho;Park, Chanhun
    • The Journal of Korea Robotics Society
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    • v.12 no.4
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    • pp.441-447
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    • 2017
  • Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.