Modular design of parallel robots with static redundancy

Moosavian, Amin; Xi, Fengfeng

doi:10.1016/j.mechmachtheory.2015.08.012

Cited by 11 publications

(5 citation statements)

References 11 publications

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“…Liu et al designed a robot with an under-actuated robotic system that consisted of one type of module [28]. There are many similar application scenarios, especially in the design case of under-actuated robots and modular self-reconfigurable robots [29,30].…”

Section: Overview Of Resilient Designmentioning

confidence: 99%

Supporting resilient conceptual design using functional decomposition and conflict resolution

Guo

Liu

Zhao

et al. 2021

Advanced Engineering Informatics

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Section: Overview Of Resilient Designmentioning

confidence: 99%

Supporting resilient conceptual design using functional decomposition and conflict resolution

Guo

Liu

Zhao

et al. 2021

Advanced Engineering Informatics

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“…Actuator redundancy consists of having more than the necessary kinematic chains between the fixed and mobile platforms. From the static point of view, for each force vector and torque at the end effector, there will be an infinite number of force and wrench vectors for the active joints [ 15 ]. For redundant robots, obtaining a single solution to the inverse kinematic problem is called solving the redundancy problem.…”

Section: Introductionmentioning

confidence: 99%

Depth-Dependent Control in Vision-Sensor Space for Reconfigurable Parallel Manipulators

Franco-López

Maya

González

et al. 2023

Sensors

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In this paper, a control approach for reconfigurable parallel robots is designed. Based on it, controls in the vision-sensor, 3D and joint spaces are designed and implemented in target tracking tasks in a novel reconfigurable delta-type parallel robot. No a priori information about the target trajectory is required. Robot reconfiguration can be used to overcome some of the limitations of parallel robots like small relative workspace or multiple singularities, at the cost of increasing the complexity of the manipulator, making its control design even more challenging. No general control methodology exists for reconfigurable parallel robots. Tracking objects with unknown trajectories is a challenging task required in many applications. Sensor-based robot control has been actively used for this type of task. However, it cannot be straightforwardly extended to reconfigurable parallel manipulators. The developed vision-sensor space control is inspired by, and can be seen as an extension of, the Velocity Linear Camera Model–Camera Space Manipulation (VLCM-CSM) methodology. Several experiments were carried out on a reconfigurable delta-type parallel robot. An average positioning error of 0.6 mm was obtained for static objectives. Tracking errors of 2.5 mm, 3.9 mm and 11.5 mm were obtained for targets moving along a linear trajectory at speeds of 6.5, 9.3 and 12.7 cm/s, respectively. The control cycle time was 16 ms. These results validate the proposed approach and improve upon previous works for non-reconfigurable robots.

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“…In this process, localization is essential to the autonomous navigation of the AGV. Therefore, designing a set of AGV real-time localization system is of great significance to realize the automation of the AGV and improve its flexibility and reliability [2,3].…”

Section: Introductionmentioning

confidence: 99%

“…Multiplying the TOF by the speed of light can get the distance from the tag to the anchor. tof S c T  (2) In the formula, tof T represents the flight time of the signal from tag to anchor, S represents the distance from the tag to the anchor, and c represents the speed of light.…”

Section: Introductionmentioning

confidence: 99%

AGV Localization System Based on Ultra-Wideband and Vision Guidance

Luo

Jiang

2020

Electronics

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Aiming at the problems of low localization accuracy and complicated localization methods of the automatic guided vehicle (AGV) in the current automatic storage and transportation process, a combined localization method based on the ultra-wideband (UWB) and the visual guidance is proposed. Both the UWB localization method and the monocular vision localization method are applied to the indoor location of the AGV. According to the corner points of an ArUco code fixed on the AGV body, the monocular vision localization method can solve the pose information of the AGV by the PnP algorithm in real-time. As an auxiliary localization method, the UWB localization method is called to locate the AGV coordinates. The distance from the tag on the AGV body to the surrounding anchors is measured by the time of flight (TOF) ranging algorithm, and the actual coordinates of the AGV are calculated by the trilateral centroid localization algorithm. Then, the localization data of the UWB is corrected by the mean compensation method to obtain a consistent and accurate localization trajectory. The experiment result shows that this localization system has an error of 15mm, which meets the needs of AGV location in the process of automated storage and transportation.Electronics 2020, 9, 448 2 of 15 continuous development of the field of intelligent manufacturing, higher requirements for AGV localization accuracy and flexible configuration were introduced, navigation methods such as visual navigation [11][12][13], QR code navigation [14][15][16], and SLAM navigation [17][18][19] have appeared. Zhang Jianpeng [20] and He Zhen et al. [21] position AGV with visual guidance. Literature [20] proposed a multi-window real-time ranging and localization method using a circular mark on the ground as a localization identifier, with high localization accuracy. Literature [21] proposed a method to measure the pose of AGV by using binocular vision. It can predict and locate the circular landmarks on the edge of the ground guideline with high accuracy. Zhang Haoyue et al. [22] established a large-capacity QR code as an artificial landmark, matched the vision sensor to achieve accurate AGV localization, and had small repeat errors.The method described above can achieve AGV localization only use a single localization technique. Based on the existing navigation methods, two or more navigation methods are merged to realize a complementary advantage of different navigation methods. This hybrid method becomes increasingly normalized in order to accurately navigate for the AGV localization. Literature [23] proposed a novel adaptive fault-tolerant multisensor navigation strategy for automated vehicles on the automated highway system. Literature [24] proposed an AGV navigation system based on GPS/DR information fusion, making GPS signal and DR signal mutually compensate for each other.The localization of the AGV dedicated to the state-of-the-art is SLAM. It can help the AGV to build an indoor environment map for the completely unknown indoor environment through co...

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Modular design of parallel robots with static redundancy

Cited by 11 publications

References 11 publications

Supporting resilient conceptual design using functional decomposition and conflict resolution

Supporting resilient conceptual design using functional decomposition and conflict resolution

Depth-Dependent Control in Vision-Sensor Space for Reconfigurable Parallel Manipulators

AGV Localization System Based on Ultra-Wideband and Vision Guidance

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