Hierarchical motion control for real time simulation of industrial robots

Tuli, Tadele Belay; Manns, Martin

doi:10.1016/j.procir.2019.03.181

Cited by 5 publications

(4 citation statements)

References 16 publications

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“…The force sensor attached to a UR5 lightweight robot helps to easily modify the contact distance of the unpressurized and pressurized states of the actuator as in. 24 For this work, only displacement and motion in one plane where captured, in future works, a threedimensional motion trajectory capture is planned. The importance of this experimental setup is, to acquire enough information about if an additively manufactured actuator can provide a load force enough to be implemented in a multi-body soft robot configuration.…”

Section: Methodsmentioning

confidence: 99%

“…Despite problems with durable integrity, the easy manufacture of soft material components for the application in production engineering is advancing. Our study, therefore, evaluates the reliability of the materials used, its motion response and its operational force in a robotic force sensing test as in, 24 using automated PID regulated air pressure signals.…”

Section: Introductionmentioning

confidence: 99%

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An agile multi-body additively manufactured soft actuator for soft manipulators

Hernández¹,

Ramírez²,

Guerrero³

2020

INGENIERIAS

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With the introduction of collaborative robots in production environments, the harm to workers by using traditional robots with rigid links is inherent. A new generation of robots made from flexible soft materials that decreases collision danger by self-deforming actions has been proposed as a promising solution for the human-robot collaboration environments. Recently, by the development of additive manufacture of elastic soft materials, new design opportunities arise for these so-called soft robots. However, robustness that is required for production environments is still not achieved. This paper presents a design approach of a fully additively manufactured three-axis soft pneumatic actuator. For its use in flexible soft robotic manipulator systems, design guidelines, a direct 3D printing process with elastic materials and a low-level PLC semi-automated pressure regulation control system are presented. To validate the proposed design, the actuator is manufactured and tested for maximum contact force, bending motion reaction and its signal response.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An agile multi-body additively manufactured soft actuator for soft manipulators

Hernández¹,

Ramírez²,

Guerrero³

2020

INGENIERIAS

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“…In the area of industry there is an increasing adherence to the use of industrial manipulators, which are robots commonly used to grab and handle heavy loads and to execute dangerous tasks, allowing operators to move objects quickly, conveniently, and safely, contributing to reducing both the number of work accidents in the industrial sector as well as the occurrence of musculoskeletal injuries [1]. The industrial manipulator is usually composed of six axes of rotation, each corresponding to a degree of freedom, which determines the movements of the robotic arm in two-dimensional or three-dimensional space [2,3].…”

Section: Introductionmentioning

confidence: 99%

Robotic Manipulation in the Ceramic Industry

Torres

Ferreira

2022

Electronics

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Robotic manipulation, an area inside the field of industrial automation and robotics, consists of using a robotic arm to guide and grasp a desired object through actuators such as a vacuum or fingers, among others. Some objects, such as fragile ceramic pieces, require special attention to the force and the gripping method exerted on them. For this purpose, two grippers were developed, where one of them is a rotary vacuum gripper and the other is an impact gripper with three fingers, each one equipped with a load sensor capable of evaluating the values of load exerted by the grip actuators onto the object to be manipulated. The vacuum gripper was developed for the purpose of glazing a coffee saucer and the gripper with three fingers was developed for the purpose of polishing a coffee cup. Being that the impact gripper with sensorial feedback reacts to the excess and lack of grip force exerted, both these grippers were developed with success, handling with ease the ceramic pieces proposed.

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“…In the same way, joint state motion tracking can be used to monitor and control. This approach is considered to develop a closed-loop control for controlling the robot in real-time [3]. Therefore, real-time motion tracking, path planning, assembly task description, and system configurations are crucial to derive a concept for real-time assembly operation to create a safe physical collaboration between humans and robots.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Motion Tracking for Humans and Robots in a Collaborative Assembly Task

Tuli

Manns

2019

The 6th International Electronic Conference on Sensors and Applications

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Human-robot collaboration combines the extended capabilities of humans and robots to create a more inclusive and human-centered production system in the future. However, human safety is the primary concern for manufacturing industries. Therefore, real-time motion tracking is necessary to identify if the human worker body parts enter the restricted working space solely dedicated to the robot. Tracking these motions using decentralized and different tracking systems requires a generic model controller and consistent motion exchanging formats. In this work, our task is to investigate a concept for a unified real-time motion tracking for human-robot collaboration. In this regard, a low cost and game-based motion tracking system, e.g., HTC Vive, is utilized to capture human motion by mapping into a digital human model in the Unity3D environment. In this context, the human model is described using a biomechanical model that comprises joint segments defined by position and orientation. Concerning robot motion tracking, a unified robot description format is used to describe the kinematic trees. Finally, a concept of assembly operation that involves snap joining is simulated to analyze the performance of the system in real-time capability. The distribution of joint variables in spatial-space and time-space is analyzed. The results suggest that real-time tracking in human-robot collaborative assembly environments can be considered to maximize the safety of the human worker. However, the accuracy and reliability of the system regarding system disturbances need to be justified.

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Hierarchical motion control for real time simulation of industrial robots

Cited by 5 publications

References 16 publications

An agile multi-body additively manufactured soft actuator for soft manipulators

An agile multi-body additively manufactured soft actuator for soft manipulators

Robotic Manipulation in the Ceramic Industry

Real-Time Motion Tracking for Humans and Robots in a Collaborative Assembly Task

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