Hardware-in-the-loop simulation of massive-payload manipulation on orbit

Yang, JaeSung; Konno, Atsushi; Abiko, Satoko; Uchiyama, Masaru

doi:10.1186/s40648-018-0116-8

Cited by 5 publications

(2 citation statements)

References 15 publications

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“…Berenson et al [8] formulated the manipulation planning of heavy objects as a probabilistic sampling problem while considering constrained manifolds. Yang et al [9] developed a tele-operating system considering mixed force and motion commands to avoid unexpected excessive force caused by massive payload. Zhu et al [10] presented a planner for a wall climbing manipulator.…”

Section: Related Workmentioning

confidence: 99%

A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks

Hayakawa¹,

Wan²,

Koyama³

et al. 2021

Preprint

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This paper develops a planner that plans the action sequences and motion for a dual-arm robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by the low payload of modern collaborative robots. Instead of directly manipulating heavy plates that collaborative robots cannot afford, the paper develops a planner for collaborative robots to operate crane pulley blocks. The planner assumes a target plate is pre-attached to the crane hook. It optimizes dualarm action sequences and plans the robot's dual-arm motion that pulls the rope of the crane pulley blocks to lift up the plate. The crane pulley blocks reduce the payload that each robotic arm needs to bear. When the plate is lifted up to a satisfying pose, the planner plans a pushing motion for one of the robot arms to tumble over the plate while considering force and moment constraints. The article presents the technical details of the planner and several experiments and analysis carried out using a dual-arm robot made by two Universal Robots UR3 arms. The influence of various parameters and optimization goals are investigated and compared in depth. The results show that the proposed planner is flexible and efficient.

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Section: Related Workmentioning

confidence: 99%

A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks

Hayakawa¹,

Wan²,

Koyama³

et al. 2021

Preprint

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“…Among this comprehensive classification, signal HIL system exposes some advantages that can be applied not only for vehicle simulation, but also for many other research fields, e.g process control [26], robotics [27], and power system [28]. This kind of HIL shows its dominant features in studies that operate at high power level and/or work in hazardous environments, with dangerous experimental conditions and high investment cost, because it uses numerical models for real-time simulation instead of real/power elements.…”

mentioning

confidence: 99%

Experimental Platform for Evaluation of On-Board Real-Time Motion Controllers for Electric Vehicles

Vo-Duy

Nguyễn

et al. 2020

Energies

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Electric vehicles are considered to be a greener and safer means of transport thanks to the distinguished advantages of electric motors. Studies on this object require experimental platforms for control validation purpose. Under the pressure of research, the development of these platforms must be reliable, safe, fast, and cost effective. To practically validate the control system, the controllers should be implemented in an on-board micro-controller platform; whereas, the vehicle model should be realized in a real-time emulator that behaves like the real vehicle. In this paper, we propose a signal hardware-in-the-loop simulation system for electric vehicles that are driven by four independent electric motors installed in wheels (in-wheel motor). The system is elaborately built on the basis of longitudinal, lateral, and yaw dynamics, as well as kinematic and position models, of which the characteristics are complete and comprehensive. The performance of the signal hardware-in-the-loop system is evaluated by various open-loop testing scenarios and by validation of a representative closed-loop optimal force distribution control. The proposed system can be applied for researches on active safety system of electric vehicles, including traction, braking control, force/torque distribution strategy, and electronic stability program.

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