Design and control of an intelligent dual-arm manipulator for fault-recovery in a production scenario

Gea, José de; Lemburg, Johannes; Roehr, Thomas M.; Wirkus, Malte; Gurov, Iliya; Kirchner, Frank

doi:10.1109/etfa.2009.5347244

Cited by 3 publications

(2 citation statements)

References 2 publications

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“…In other words, all elements but one in δθ have to be zero. In order to choose which joint's velocity to modify, we define a diagonal matrix E θ as follows: (8) and the matrix corresponding to task space velocity errors:…”

Section: Proposed Methodsmentioning

confidence: 99%

Optimal command ordering for serial link manipulators

Smith

Karayiannidis

2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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Reducing the number of cables needed for the actuators and sensors of humanoid and other robots with high numbers of degrees of freedom (DoF) is a relevant problem, often solved by using a common bus for all communication, which may result in bandwidth limitation problems. This paper proposes an optimized method to reorder the commands sent to the joint-local controllers of a serial manipulator. The proposed method evaluates which local controller would benefit the most from an updated command given a cost function, and sends a command to this controller. As is demonstrated in both simulation and on a real robot, the resulting scheme can significantly improve system performance, equivalent to increasing the communication frequency by up to 3 times.

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Section: Proposed Methodsmentioning

confidence: 99%

Optimal command ordering for serial link manipulators

Smith

Karayiannidis

2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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show abstract

“…In the 21st century, industrial robot is used extensively in many fields with the development of industrial technology, such as welding, drilling, assembly, transportation, cutting, spraying, measuring, stacking and laser processing [1][2][3][4][5][6][7][8][9][10][11][12], especially in automobile industry. Consequently, how to improve working efficiency and shorten production cycle on the premise of quality assurance is one problem that's worth concerning for the application of industrial robot.…”

Section: Introductionmentioning

confidence: 99%

Optimization on multi-robot workcell layout in vertical plane

Long¹,

Liu²

2011

2011 IEEE International Conference on Information and Automation

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The rapid development of industrial robotics has provided an opportunity for the greater efficiency of aircraft manufacturing industry. But the complexity of work environment is a great challenge to robot's practical application. This paper describes a method of designing and positioning multi-robot workcells which are used to manufacture large surface workpieces in three-dimensional space. The method defines the work space of robot as a sector region and transforms the problem of multi-robot workcell layout into a nonlinear programming problem. The objective is to maximize the overlapped workspace of two robots without collision between robots and workpieces. This method has been implemented on computer and the results obtained are promising.

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Predictive compliance for interaction control of robot manipulators

Fernández

Kirchner

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Design and control of an intelligent dual-arm manipulator for fault-recovery in a production scenario

Cited by 3 publications

References 2 publications

Optimal command ordering for serial link manipulators

Optimal command ordering for serial link manipulators

Optimization on multi-robot workcell layout in vertical plane

Predictive compliance for interaction control of robot manipulators

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