MiRoR—Miniaturized Robotic Systems for Holistic <i>In-Situ</i> Repair and Maintenance Works in Restrained and Hazardous Environments

Axinte, Dragoş; Dong, Xin; Palmer, David; Rushworth, Adam; Guzman, Salvador C.; Olarra, Aitor; Arizaga, Inigo; Gomez-Acedo, Eneko; Txoperena, Kristine; Pfeiffer, Kai; Meßmer, Felix; Gruhler, Matthias; Kell, James

doi:10.1109/tmech.2018.2800285

Cited by 53 publications

(21 citation statements)

References 10 publications

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“…Compared with previous direct information interaction, the observability is stronger. For example, the information exchange between the robot and the camera, the robot sends the information to the PLC first, and then to the robot by the PLC [Axinte (2018); Rodrigues, McGordon, Gest et al (2018)]. This design can make all the fault information appear on the PLC with the alarm signal, and can be maintained directly, avoiding a lot of maintenance time.…”

Section: System Hardware Circuit Designmentioning

confidence: 99%

Research on Robot Control Technology Based on Vision Localization

Yin¹,

Yang²

2019

Journal on Artificial Intelligence

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Based on the understanding of machine vision localization technology at home and abroad, this paper outlines the overall design of the system, and analyses the working principle and workflow of the robot with vision system in workpiece grinding. The hardware design of the system is introduced. The process of image processing is analyzed in detail, and the results of image processing are given. The basic parameters of camera imaging are taken as internal parameters. The camera calibration is obtained by rotation matrix R and translation parameter T. The coordinate transformation of camera coordinate system and world coordinate system is analyzed. Finally, the positions and postures of the actual workpiece and the end-effector in the world coordinate system are given respectively, and the robot with the vision system is used to grasp the actual workpiece. The difficulties of this project are visual calibration, image processing and coordinate transformation. Robot vision technology can directly grasp the location. Compared with the manual mechanical positioning, the robot that realizes autonomous vision localization has more flexibility, better quality and higher efficiency.

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Section: System Hardware Circuit Designmentioning

confidence: 99%

Research on Robot Control Technology Based on Vision Localization

Yin¹,

Yang²

2019

Journal on Artificial Intelligence

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“…Researchers have explored the methods to understand and compensate for thermal variations in metrology [20,36,37]. In order to understand the effect thermal variations on the measurement accuracy, a simple experiment was conducted by systematically varying the temperature and recording the corresponding readings for the same artefact.…”

Section: Stage 1 Set 2: Effects Of Thermal Variations and Driftmentioning

confidence: 99%

An investigation of highly accurate and precise robotic hole measurements using non-contact devices

Usman

Monfared

Lohse

et al. 2016

Int. J. Metrol. Qual. Eng.

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Abstract. Industrial robots arms are widely used in manufacturing industry because of their support for automation. However, in metrology, robots have had limited application due to their insufficient accuracy. Even using error compensation and calibration methods, robots are not effective for micrometre (μm) level metrology. Non-contact measurement devices can potentially enable the use of robots for highly accurate metrology. However, the use of such devices on robots has not been investigated. The research work reported in this paper explores the use of different non-contact measurement devices on an industrial robot. The aim is to experimentally investigate the effects of robot movements on the accuracy and precision of measurements. The focus has been on assessing the ability to accurately measure various geometric and surface parameters of holes despite the inherent inaccuracies of industrial robot. This involves the measurement of diameter, roundness and surface roughness. The study also includes scanning of holes for measuring internal features such as start and end point of a taper. Two different non-contact measurement devices based on different technologies are investigated. Furthermore, effects of eccentricity, vibrations and thermal variations are also assessed. The research contributes towards the use of robots for highly accurate and precise robotic metrology.

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“…Compared to the conventional rigid robotic manipulators, CDMs have advantages of large workspace, low moving mass, high payload-to-weight ratio, and variable stiffness. As such, they have been applied in inspection and repair [1][2][3], human-robot interaction [4][5][6], moving and lifting payloads [7][8][9] and wearable robots [10][11][12][13][14]. Since cables have unilateral driving properties, i.e., can pull but cannot push, the number of driving cables in a CDM is greater than the number of its Degree-of-Freedom (DOF), yielding redundant actuation.…”

Section: Introductionmentioning

confidence: 99%

Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism

Yang

Chen

et al. 2019

Symmetry

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In this paper, we focus on the issues pertaining to stiffness-oriented cable tension distributionfor a symmetrical 6-cable-driven spherical joint module (6-CSJM), which can be employed to constructmodular cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three cables areemployed for position regulation by adjusting the cable lengths, and the remaining three cables areutilized for stiffness regulation by adjusting the cable tensions, i.e., the position and stiffness can beregulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device(VSD) is designed, which is serially connected to the driving cable. Since the stiffness model of the6-CSJM with VSDs is very complicated, it is difficult to directly solve the cable tensions from thedesired stiffness. The stiffness-oriented cable tension distribution issue is formulated as a nonlinearconstrained optimization problem, and the Complex method is employed to obtain optimal tensiondistributions. Furthermore, to significantly improve the computation efficiency, a decision variableelimination technique is proposed to deal with the equality constraints, which reduces decision variablesfrom 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposedmethod, showing that the 6-CSJM can accurately achieve the desired stiffness through cable tensionoptimization.

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MiRoR—Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments

Cited by 53 publications

References 10 publications

Research on Robot Control Technology Based on Vision Localization

Research on Robot Control Technology Based on Vision Localization

An investigation of highly accurate and precise robotic hole measurements using non-contact devices

Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism

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