Performance Analysis of Sawing Based on Impulse Measure and Geometry—Dublahal Arm Approach

Lee, Ju Hyoung; Yi, Byung Ju; Oh, Sang–Rok; Suh, Il Hong

doi:10.1109/tro.2005.852264

Cited by 15 publications

(23 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The generalized impact ellipsoid, on the other hand, was aimed at analyzing changes in external impulse with respect to changes in kinetic energy of the robot joints. Both measures are useful in cases where end-effector and environment damage and design are of importance [34]. However, by mapping the external impulse onto the internal impulses at robot joints, [34] was able to develop an internal impact measure that evaluated changes in internal impulse with respect to external impulse experienced at the end-effector.…”

Section: Coordinated Striking Tasks (Csts)mentioning

confidence: 99%

“…Both measures are useful in cases where end-effector and environment damage and design are of importance [34]. However, by mapping the external impulse onto the internal impulses at robot joints, [34] was able to develop an internal impact measure that evaluated changes in internal impulse with respect to external impulse experienced at the end-effector. At the same time, [34] expanded the dynamics of a rigid serial and dual-arm robots to collisions with non-rigid surfaces through an effective mass model of the surface the robot end-effector would contact.…”

Section: Coordinated Striking Tasks (Csts)mentioning

confidence: 99%

“…However, by mapping the external impulse onto the internal impulses at robot joints, [34] was able to develop an internal impact measure that evaluated changes in internal impulse with respect to external impulse experienced at the end-effector. At the same time, [34] expanded the dynamics of a rigid serial and dual-arm robots to collisions with non-rigid surfaces through an effective mass model of the surface the robot end-effector would contact. The hardness of the surface is reflected in its effective mass such that a harder surface would cause a larger external force.…”

Section: Coordinated Striking Tasks (Csts)mentioning

confidence: 99%

“…The incremental change of the velocity of the nail can be found using the effective mass model from [34]:…”

Section: Figure 16 Hammer and Nail Environment Model [39]mentioning

confidence: 99%

“…Here, the nail is modelled as a prismatic joint with = 1 where it can slide along the z-direction of the normal vector, . If the impulsive force, , can be measured using a force sensor, then it can be used with (34) to calculate the effective the effective mass matrix, [ * ].…”

Section: Figure 16 Hammer and Nail Environment Model [39]mentioning

confidence: 99%

See 4 more Smart Citations

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Romanyuk¹

2021

Preprint

View full text Add to dashboard Cite

Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach.

show abstract

Section: Coordinated Striking Tasks (Csts)mentioning

confidence: 99%

Section: Coordinated Striking Tasks (Csts)mentioning

confidence: 99%

Section: Coordinated Striking Tasks (Csts)mentioning

confidence: 99%

“…The incremental change of the velocity of the nail can be found using the effective mass model from [34]:…”

Section: Figure 16 Hammer and Nail Environment Model [39]mentioning

confidence: 99%

Section: Figure 16 Hammer and Nail Environment Model [39]mentioning

confidence: 99%

See 3 more Smart Citations

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Romanyuk¹

2021

Preprint

View full text Add to dashboard Cite

show abstract

Motion optimization of human body for impulse-based applications

Imran

2018

Intel Serv Robotics

View full text Add to dashboard Cite

A multiple working mode approach to robotic hammering: Analysis and experiments

2021

View full text Add to dashboard Cite

A robot arm may be in need for performing various operations, especially for service robots and space robots. This paper presents a strategy that allows a modular and reconfigurable robot to safely perform nail hammering without hardware enhancements. The purpose is to equip a versatile robot arm with hammering capability that can be used if needed. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses and serve as criteria for mode switching. Advantages of the proposed approach include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study has validated analytic models of hammering and demonstrated the effectiveness of the proposed approach.

show abstract

Performance Analysis of Sawing Based on Impulse Measure and Geometry—Dublahal Arm Approach

Cited by 15 publications

References 17 publications

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Motion optimization of human body for impulse-based applications

A multiple working mode approach to robotic hammering: Analysis and experiments

Contact Info

Product

Resources

About