Dual-Arm Robot with Mobile Robot Platform with Master-Slave Configuration for Teleoperation Application

Zaman, ‪Mohd Hairi Mohd

doi:10.30534/ijatcse/2020/9691.42020

Cited by 5 publications

(3 citation statements)

References 12 publications

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“…This system is beneficial in the industrial sector, thereby enhancing the productivity of product manufacturing and the quality of products. This situation is in contrast to using the human workforce, which has a high probability of making mistakes [10]- [12].…”

Section: Introductionmentioning

confidence: 97%

Robot Arm System Based on Augmented Reality Approach

2020

IJETER

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Augmented reality (AR) is a form of information and communication technology that provides virtual visual information (i.e., images, animation, or video) augmented upon physical reality through computer devices. This study aims to use AR technology on a robot arm system and act as feedback data for this system. The AR technology is applied to an AR marker (i.e., ARTag marker), and ARTag data are acquired using 3D or depth cameras. This robot arm system operates to retrieve target objects located in the scanning area scanned by cameras. After the target object has been identified, the robot arm moves the target object to the target location. The system works by combining the robot arm control and AR algorithms. The control algorithm is used for controlling the robot arm movement, whereas the AR algorithm is for identifying ARTag markers. Therefore, this study focuses on building an efficient AR algorithm to identify the target and non-target objects and test this algorithm on an actual robot arm. Results indicate that the robot arm can capture the target object successfully, and the camera can accurately read the coordinates of the ARTag marker located on the target object. Therefore, this research successfully developed an AR-based robot arm system.

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Section: Introductionmentioning

confidence: 97%

Robot Arm System Based on Augmented Reality Approach

2020

IJETER

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“…Master-slave teleoperation entails controlling a robot model through a remote control device or joystick. This method is frequently employed in high-stakes fields like aerospace (Liu et al, 2019), manufacturing (Lee et al, 2018;Zaman et al, 2020), oil and gas (Caiza et al, 2020), and beyond. Differences in the design of robot arm structures between master and slave devices can pose control challenges.…”

Section: Introductionmentioning

confidence: 99%

Bilateral Teleoperation with a Shared Design of Master and Slave Devices for Robotic Excavators in Agricultural Applications

Rozaini,

Ahmad Zakey,

Mohd Zaman

et al. 2023

IJERR

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The main objective of this study is to develop a shared design of master and slave devices for bilateral teleoperation mechanisms used for robotic excavators in agricultural applications. In robot teleoperation research, many potential applications within controlled and hazardous environments come to light. Robots, with their capacity for remote control by human operators through master devices, often employ the master-slave teleoperation approach. This strategy finds frequent use across manufacturing, construction, and agriculture industries. The master-slave system necessitates two interdependent components that collaboratively steer the robot in real time. However, challenges arise when manipulating the robot arm proves challenging due to structural differences between the master device (such as a joystick) and the slave device (the robot arm). A stable operational framework must be established for the robot to function optimally. This teleoperation system employs a master device to govern the actions of the slave device, a dynamic that heavily influences the operational complexity. Hence, the focal point of this study is to enhance the master-slave algorithm for teleoperation applications that rely on controlling robot arm movements. Despite the differing dimensions of the master and slave devices, they both share a common structure. The kinematic model bridging these components must be intelligible to ensure user-friendliness, facilitating effortless robot control. Calculating the robot arm's end effector movement and positioning involves employing the forward kinematics of the arm, determined through Denavit-Hartenberg parameters and transformation matrices. By mitigating communication delays between the master and slave devices using a technique centered around the robot arm's end effector position, the effectiveness of teleoperation can be significantly improved. Our designed robot arm attains 80% to 100% precision across joints. In summary, streamlining the robot arm's structure and minimizing delays offers a route to bolstering both stability and efficiency in robotic movement.

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“…In the Chernobyl incident, massive nuclear radiations threatened people’s lives, and the cleaning of radiation materials could only be achieved by mobile robots [ 4 ]. In the 2019 Corona Virus Disease (COVID-19) epidemic, mobile robots are adopted to perform blood collection and testing, which can prevent spread of the virus [ 5 ]. In the Mars exploration mission of China, mobile robots are adopted for scientific experiments and samples collection [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

Kinematic and dynamic control model of wheeled mobile robot under internet of things and neural network

Liu

Cong

2022

J Supercomput

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This study aims to solve the issues of nonlinearity, non-integrity constraints, under-actuated systems in mobile robots. The wheeled robot is selected as the research object, and a kinematic and dynamic control model based on Internet of Things (IoT) and neural network is proposed. With the help of IoT sensors, the proposed model can realize effective control of the mobile robot under the premise of ensuring safety using the model tracking scheme and the radial basis function adaptive control algorithm. The results show that the robot can be controlled effectively to break the speed and acceleration constraints using the strategy based on the model predictive control, thus realizing smooth movement under the premise of safety. The self-adapting algorithm based on the IoT and neural network shows notable advantages in parameter uncertainty and roller skidding well. The proposed model algorithm shows a fast convergence rate of about 2 s, which has effectively improved performances in trajectory tracking and robustness of the wheeled mobile robot, and can solve the difficulties of wheeled mobile robots in practical applications, showing reliable reference value for algorithm research in this field.

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Dual-Arm Robot with Mobile Robot Platform with Master-Slave Configuration for Teleoperation Application

Cited by 5 publications

References 12 publications

Robot Arm System Based on Augmented Reality Approach

Robot Arm System Based on Augmented Reality Approach

Bilateral Teleoperation with a Shared Design of Master and Slave Devices for Robotic Excavators in Agricultural Applications

Kinematic and dynamic control model of wheeled mobile robot under internet of things and neural network

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