A review on control systems hardware and software for robots of various scale and purpose. Part 1. Industrial robotics

Romanov, Alexey M.

doi:10.32362/2500-316x-2019-7-5-30-46

Cited by 10 publications

(5 citation statements)

References 47 publications

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“…Proximity in HRC -Cobots are envisioned to be in "cage-free" environments, sharing a workspace and collaborating closely with human workers [26]. As these cage-free systems can prove detrimental due to the potential for collision, several works have attempted to create safe human-robot collaboration via algorithmic advancements [41,47,54], designing different manipulation techniques to stop the robot from causing bodily harm in alignment with industry guidelines [59]. Another approach has been to design compliant robots to ensure safety in proximate HRC settings [34,61,75].…”

Section: Related Workmentioning

confidence: 99%

The Effect of Robot Skill Level and Communication in Rapid, Proximate Human-Robot Collaboration

Lee

Krishna

Zaidi

et al. 2023

Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

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As high-speed, agile robots become more commonplace, these robots will have the potential to better aid and collaborate with humans. However, due to the increased agility and functionality of these robots, close collaboration with humans can create safety concerns that alter team dynamics and degrade task performance. In this work, we aim to enable the deployment of safe and trustworthy agile robots that operate in proximity with humans. We do so by 1) Proposing a novel human-robot doubles table tennis scenario to serve as a testbed for studying agile, proximate human-robot collaboration and 2) Conducting a user-study to understand how attributes of the robot (e.g., robot competency or capacity to communicate) impact team dynamics, perceived safety, and perceived trust, and how these latent factors affect human-robot collaboration (HRC) performance. We find that robot competency significantly increases perceived trust (𝑝 < .001), extending skill-to-trust assessments in prior studies to agile, proximate HRC. Furthermore, interestingly, we find that when the robot vocalizes its intention to perform a task, it results in a significant decrease in team performance (𝑝 = .037) and perceived safety of the system (𝑝 = .009). CCS CONCEPTS• Human-centered computing → Empirical studies in collaborative and social computing; • Computer systems organization → Robotics.

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Section: Related Workmentioning

confidence: 99%

The Effect of Robot Skill Level and Communication in Rapid, Proximate Human-Robot Collaboration

Lee

Krishna

Zaidi

et al. 2023

Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

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“…The latter case becomes more and more popular as it makes it easy to support different types of end effectors developed independently from the robot. Simple grippers are usually controlled by 24V digital outputs, while more complex ones use bi-directional industrial fieldbuses [29].…”

Section: Related Workmentioning

confidence: 99%

A Novel Gripper with Integrated Rotary Unit and Force Control for Pick and Place Applications

2022

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Modern electrical grippers have lower life-cycle costs compared to pneumatic ones. Furthermore, they provide force control, making it possible to grasp objects with different fragility using a single device. At the same time, electrical grippers have a higher end-effector weight, installed on the robot’s flange and lower closing speed, preventing them from replacing pneumatic solutions in high dynamic Pick and Place applications. This research faces both issues by synthesizing a novel gripper mechanism based on a Torque Distribution Gearbox, which makes it possible to relocate the electric motors to the static frame of a delta robot. The proposed gripper not only has a lower mass and a higher closing speed than competitive electric solutions, but it also provides unlimited rotation around the vertical axis. The performance of the gripper was tested in experimental studies, which showed that a created aluminum prototype provides a precise force control in the range from 3 N to 48 N with an accuracy not worse than 1.27 N. Moreover, its finger’s speed is 3.1–56 times higher than market available electrical grippers, which makes it comparable by this parameter with pneumatic solutions used in high dynamic Pick and Place applications.

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“…The subscript 𝑖= (1,2,3) indicates the three delta robot arm legs The delta robot's direct kinematics or forward kinematic, which addresses the unknown positions are P = [𝑋 𝑝 , 𝑌 𝑝 , 𝑍 𝑝 ], for a set of angles θi1 for each arm i= (1,2,3) of the motor, whereas for inverse kinematic, the desired P to the specific position of the end effector determines the angle of motor θi1 for each arm i= (1,2,3) at the base platform. The conversion calculator for inverse and forward kinematic can be easily found in [25].…”

Section: Delta Robot Kinematicsmentioning

confidence: 99%

“…Robots are programmable devices that have been created to carry out many jobs as part of future progress in many fields of technology and development [1]. Robots are becoming more flexible because of constant research and development in robotic software and hardware [2]. In every element of life, robots have become prevalent and have been utilised in medical operations, human aid, factory automation, logistics and delivery, etc.…”

Section: Introductionmentioning

confidence: 99%

Development of Delta Robot Arm Simulation in ROS2 Foxy Fitzroy Environment

Saipullah,

Saad,

Ramlee

et al. 2022

JTEC

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This work demonstrates the methodological steps to simulate a three-degree of freedom (DoF) delta robot arm in the Foxy Fitzroy version of Robot Operating System 2 (ROS2). The mechanical design of the delta robot was represented in the form of Simulation Description Format (SDF), translated from the customised Unified Robotic Description Format (URDF) file generated using SolidWorks to URDF Exporter after the designed mechanism had been finalised. It is necessary to use the SDF instead of URDF for delta robot simulation since this type of file format supports closed-loop linkages, one of the crucial features of a delta robot arm mechanism. The simulation of the delta robot motion was conducted in the Gazebo Robot Simulator, where the positioning of the delta robot end effector was observed when the specific force was applied to each of the robot arms. The mechanism of the delta robot behaviour on forward and inverse kinematic was then simulated to observe the positioning of the end effector toward the motion of motor rotational angle and vice-versa.

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A review on control systems hardware and software for robots of various scale and purpose. Part 1. Industrial robotics

Cited by 10 publications

References 47 publications

The Effect of Robot Skill Level and Communication in Rapid, Proximate Human-Robot Collaboration

The Effect of Robot Skill Level and Communication in Rapid, Proximate Human-Robot Collaboration

A Novel Gripper with Integrated Rotary Unit and Force Control for Pick and Place Applications

Development of Delta Robot Arm Simulation in ROS2 Foxy Fitzroy Environment

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