Motion optimization of human body for impulse-based applications

Imran, Abid

doi:10.1007/s11370-018-0256-y

Cited by 3 publications

(5 citation statements)

References 25 publications

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“…Based on our proposed impulse-based method, the dynamics of the manipulator can be easily combined with dynamics of the environment. Furthermore, this method can be effectively applied to optimize the external impulse for kinematic redundant manipulators as applied in previous research [44,46]. The analytical closed-form model of linear and angular…”

Section: Comparative Analysismentioning

confidence: 99%

“…The external impulses can be maximized or minimized for kinematic redundant manipulators by using different algorithms [45,46]. For the given UR5e non-redundant robot, the tool direction is decided based on the impulse geometry to maximize the linear impulse and minimize the angular impulses.…”

Section: A Performance Analysis In Terms Of Belted Ellipsoidmentioning

confidence: 99%

“…For redundant manipulators, kinematic redundancy can be utilized to maximize the linear impulses and minimize the angular impulses [45,46]. However, one can still find optimal workspace that assures maximum performance in terms of the linear impulse/angular impulses.…”

Section: B Optimization Of Workpacementioning

confidence: 99%

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Modeling, Analysis, and Optimization of Robotic Light Machining Tasks for Empowering Digital Twin: Generalized Impulse Model Approach

et al. 2022

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Light machining tasks by robots are becoming an important issue to replace shortages of human resources. To improve the quality, safety and overall performance of manufacturing process, the modeling for estimation of forces and torques during the machining operations is on demand. In parallel, the digital model has also been developed which allow to detect the foul conditions, save energy & time and optimization of the real manufacturing process. Digital twins are one of them which use the offline and online data to simulate the physical manufacturing process. However, the empowerment of digital twins can be improved further by developing more accurate mathematical model which allow to simulate the physical machining process in real time. Accordingly, this paper presents a formulation for the mechanics of robotic light machining tasks to empower the digital twin. In this paper, a generalized impulse model is employed to analyze a light machining task that combines the linear and angular motions. For the implementation of an impulse model-based approach, the concept of both effective mass and effective inertia is newly introduced to reflect the dynamics of the environment, which depends on the hardness of the material and process parameters (feed rate and speed (rpm) etc.) of the machining task. Furthermore, optimal feed rates are calculated with consideration of effective mass/effective inertia and minimum task completion time. Moreover, simulations are carried out to choose the feasible direction of linear and angular velocities and optimal non-singular workspace for light machining tasks. Finally, the proposed methodology is validated through a quantitative comparison of simulation and experimental results by performing the drilling and milling tasks. A 6-DOF Universal robot (UR 5e) is used for simulations and experiments to corroborate the effectiveness of the proposed algorithms for light machining tasks. The developed methodology will certainly empower the digital twin for their physical analog during light machining operations.

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Section: Comparative Analysismentioning

confidence: 99%

Section: A Performance Analysis In Terms Of Belted Ellipsoidmentioning

confidence: 99%

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Modeling, Analysis, and Optimization of Robotic Light Machining Tasks for Empowering Digital Twin: Generalized Impulse Model Approach

et al. 2022

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“…Impulse model-based methodologies are introduced for the robot and environment interaction applications [17][18][19]. By extending those methodologies, we propose an analytical model based scattering technique for object singulation in a controlled manner.…”

Section: Introductionmentioning

confidence: 99%

“…Once the controlled scattering is achieved in virtual world, the manipulator will be commanded to perform the scattering similar to virtual world. Finally, a quantitative evaluation is performed in Section 6 by measuring the distance among applications [17][18][19]. By extending those methodologies, we propose an analytical model based scattering technique for object singulation in a controlled manner.…”

Section: Introductionmentioning

confidence: 99%

Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties

et al. 2019

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This paper presents a scattering-based technique for object singulation in a cluttered environment. An analytical model-based control scattering approach is necessary for controlled object singulation. Controlled scattering implies achieving the desired distances between objects after collision. However, current analytical approaches are limited due to insufficient information of the physical environment properties, such as the coefficient of restitution, coefficient of friction, and masses of objects. In this paper, this limitation is overcome by introducing a technique to learn these parameters from unlabeled videos. For the analytical model, an impulse-based approach is used. A virtual world simulator is designed based on a dynamic model and the estimated physical properties of all objects in the environment. Experiments are performed in a virtual world until the targeted scattering pattern is achieved. The targeted scattering pattern implies that all objects are singulated. Finally, the desired input from the virtual world is fed to the robot manipulator to perform real-world scattering.

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Efficient optimal force distribution method of the parallel mechanism with actuator redundancy based on geometric interpretation

et al. 2019

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Motion optimization of human body for impulse-based applications

Cited by 3 publications

References 25 publications

Modeling, Analysis, and Optimization of Robotic Light Machining Tasks for Empowering Digital Twin: Generalized Impulse Model Approach

Modeling, Analysis, and Optimization of Robotic Light Machining Tasks for Empowering Digital Twin: Generalized Impulse Model Approach

Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties

Efficient optimal force distribution method of the parallel mechanism with actuator redundancy based on geometric interpretation

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