Identifying Feasible Workpiece Placement with Respect to Redundant Manipulator for Complex Manufacturing Tasks

Malhan, Rishi K.; Kabir, Ariyan M.; Shah, Brual C.; Gupta, Satyandra K.

doi:10.1109/icra.2019.8794353

Cited by 39 publications

(12 citation statements)

References 31 publications

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“…Deriving the weft, warp, and shear components of total elastic energy of the triangle with respect to vertex position gives us the force applied at the jth vertex of the triangle given by Eq. (7).…”

Section: Simulation Modelmentioning

confidence: 99%

“…In previous work accomplished at the Center for Advanced Manufacturing (CAM) at the University of Southern California (USC), Viterbi School of Engineering, the use of robots for performing automated prepreg sheet layup has been demonstrated [4][5][6][7][8]. Such a highly autonomous robotic cell needs estimation of the sheet parameters in situ for optimal and efficient planning.…”

Section: Introductionmentioning

confidence: 99%

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A Digital Twin for Automated Layup of Prepreg Composite Sheets

Chen

Joseph

Kanyuck

et al. 2021

Journal of Manufacturing Science and Engineering

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The composite sheet layup process involves stacking several layers of a viscoelastic prepreg sheet and curing the laminate to manufacture the component. Demands for automating functional tasks in the composite manufacturing processes have dramatically increased in the past decade. A simulation system representing a digital twin of the composite sheet can aid in the development of such an autonomous system for prepreg sheet layup. While Finite Element Analysis (FEA) is a popular approach for simulating flexible materials, material properties need to be encoded to produce high-fidelity mechanical simulations. We present a methodology to predict material parameters of a thin-shell FEA model based on real-world observations of the deformations of the object. We utilize the model to develop a digital twin of a composite sheet. The method is tested on viscoelastic composite prepreg sheets and fabric materials such as cotton cloth, felt and canvas. We discuss the implementation and development of a high-speed FEA simulator based on the VegaFEM library. By using our method to identify sheet material parameters, the sheet simulation system is able to predict sheet behavior within 5 cm of average error and have proven its capability for 10 fps real-time sheet simulation.

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Section: Simulation Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Digital Twin for Automated Layup of Prepreg Composite Sheets

Chen

Joseph

Kanyuck

et al. 2021

Journal of Manufacturing Science and Engineering

Self Cite

View full text Add to dashboard Cite

show abstract

“…Jamone et al [24] also built up the reachable space map for a robot, but the map was described using motor representation. Malhan et al [25] constructed the capability map to evaluate whether the waypoints on the surface of a workpiece satisfy position and singularity constraints.…”

Section: Related Workmentioning

confidence: 99%

Planning a Sequence of Base Positions for a Mobile Manipulator to Perform Multiple Pick-and-Place Tasks

Xu¹,

Domae²,

Ueshiba³

et al. 2020

Preprint

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In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a mobile manipulator can grasp objects stored in multiple trays simultaneously and move the mobile manipulator to the common areas to reduce the time needed for moving the mobile base. We ensure robustness by optimizing the base position with the best clearance to positioning uncertainty so that a mobile manipulator can complete the task even if there is a certain deviation from the planned base positions. Besides, considering different styles of object placement in the tray, we analyze feasible schemes for dynamically updating the base positions based on either the remaining objects or the target objects to be picked in one round of the tasks. In the experiment part, we examine our planner on various scenarios, including different object placement: (1) Regularly placed toy objects; (2) Randomly placed industrial parts; and different schemes for online execution: (1) Apply globally static base positions; (2) Dynamically update the base positions. The experiment results demonstrate the efficiency, robustness and feasibility of the proposed method.Note to Practitioners-The presented project uses mobile manipulators to fetch and supply parts in an automotive assembly factory. Mechanical parts at these sites are usually regularly or randomly placed in supply trays. The project develops methods to explore robust mobile base positions where the objects with different placement styles and from different trays can be reached by a mobile manipulator. The mobile manipulators could perform efficient and high-quality pick-and-place operations by navigating to the explored positions. The developed methods also discuss the dynamic updates the base positions following picking process to further increase system robustness. The presented project is expected to shed light on the deployment of mobile manipulators to collect parts at large manufacturing factories.

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“…Redundancy in kinematics means * Corresponding author. Email: zhan.li@swansea.ac.uk that the number of DoF in joint space is larger than that in Cartesian space (e.g., the typical applications such as industrial and medical robots [14,15]). Redundancy in dynamics means that the number of DoF in actuation space is larger than that in joint space (e.g., over-actuated systems such as human muscular-skeletal systems [16,17]).…”

Section: Introductionmentioning

confidence: 99%

Briefly Revisit Kinematic Control of Redundant Manipulators via Constrained Optimization

Liao

et al. 2022

EAI Endorsed Trans AI Robotics

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Redundant manipulators are widely utilized in numerous applications among various areas in industry and service. Redundant manipulators take advantage of their inherent or acquired redundancy to achieve certain benefits in kinematic control. Different from non-redundant manipulators, optimization paradigms are more likely to be established and may be more efficient for kinematic control issues in redundant manipulators. In this paper, we revisit the perspective and methodology on constrained optimization paradigms for kinematic control of redundant manipulators.

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Identifying Feasible Workpiece Placement with Respect to Redundant Manipulator for Complex Manufacturing Tasks

Cited by 39 publications

References 31 publications

A Digital Twin for Automated Layup of Prepreg Composite Sheets

A Digital Twin for Automated Layup of Prepreg Composite Sheets

Planning a Sequence of Base Positions for a Mobile Manipulator to Perform Multiple Pick-and-Place Tasks

Briefly Revisit Kinematic Control of Redundant Manipulators via Constrained Optimization

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