Recycling A Discarded Robotic Arm For Automation Engineering Education

Sanfilippo, Filippo; Osen, Ottar L.; Alaliyat, Saleh

doi:10.7148/2014-0081

Cited by 8 publications

(7 citation statements)

References 12 publications

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“…The unique kinematics design perfectly decouples translations and rotations, enabling the omega.7 base to accommodate various interchangeable end-effectors to meet different application requirements. The omega.7 is widely used for both research and education applications [12]. The omega.7 can be controlled in two different operational scenarios: haptics and robotics mode.…”

Section: A Force Dimension Omega7mentioning

confidence: 99%

A coupling library for the force dimension haptic devices and the 20-sim modelling and simulation environment

Sanfilippo¹,

Weustink²,

Pettersen

2015

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

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A haptic feedback device is a device that establishes a kinaesthetic link between a human operator and a computer-generated environment. This paper addresses the bidirectional coupling between a commercial off-the-shelf (COTS) haptic feedback device and a general-purpose modelling and simulation environment. In particular, an open-source library is developed to couple the Force Dimension omega.7 haptic device with the 20-sim modelling and simulation environment. The presented coupling interface is also compatible with all the different haptic devices produced by Force Dimension.The proposed integrated haptic interface makes it possible to track the user's motion, detect collisions between the usercontrolled probe and virtual objects, compute reaction forces in response to motion or contacts and exert an intuitive force feedback on the user. A real-time one-to-one correspondence between reality and virtual reality can be transparently created. This allows for a variety of possible applications. Stability issues, performance issues, design and virtual prototyping challenges can be addressed and investigated for research purposes. In addition, design and virtual prototyping are also of interest to industry. Realistic training environments can be developed for the user considering different possible operations and stressing the importance of usability and user experience. Experiments based on using haptics technology in the field of education can also be easily performed.To demonstrate the potential of the proposed coupling, a case study is presented. Related simulations and experimental results are carried out.

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Section: A Force Dimension Omega7mentioning

confidence: 99%

A coupling library for the force dimension haptic devices and the 20-sim modelling and simulation environment

Sanfilippo¹,

Weustink²,

Pettersen

2015

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

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“…In [9], a cost-effective approach for the design of educational projects in a PLC course for electrical engineering education is presented. In [10], a PLC platform is used to recycle a discarded robotic arm for automation engineering education. These works show that engineering students improve their practical problem-solving abilities by working on an extensive design project using PLC-based technology.…”

Section: Pedagogical Toolsmentioning

confidence: 99%

Enhancing Teaching Methods on Embedded Systems with Project-Based Learning

Sanfilippo

Austreng

2018

2018 IEEE International Conference on Teaching, Assessment, and Learning for Engineering (TALE)

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Automation engineering departments must continuously develop their laboratories and pedagogical tools to provide their students with effective study plans. While acquiring state-of-the-art equipment can be financially demanding, an effort is made at the Norwegian University of Science and Technology (NTNU) in Trondheim to provide the students with a hands-on sustainable experience. A strategy that consists of adopting low-cost commercial off-the-shelf (COTS) components for learning purposes is selected. This combines both industrystandard automation controllers, such as Programmable Logic Controller (PLC) technology, as well as novel microcontrollers designed for use in embedded systems education. Specifically, the micro:bit microcontroller based on the nRF51822 system-on-chip (SoC) and designed by the British Broadcasting Corporation (BBC) is adopted. This choice is supported by an agreement between NTNU and the Norwegian company Nordic Semiconductor, which produces the nRF51822 SoC. This paper proposes a novel organisation of the embedded systems module for the engineering cybernetics education curriculum. Students are engaged in both a series of theoretical lectures as well as practical and highly-involving laboratory group projects. The course organisation and main topics as well as result analysis of student surveys are discussed. The survey results indicate that the course organisation and topics are effective for the students.

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“…Bomfim et al [2] re-manufactured the controller of a robot manipulator for the automotive industry, whose trajectories are designed with the MATLAB and Mach3 programs. Sanfilippo et al [3] and Soriano et al [4] recycled robotic arms for automation engineering education. The robot in [3] is useful for student academic training, whose controller cabinet was developed by students using a PLC architecture.…”

Section: Introductionmentioning

confidence: 99%

“…Sanfilippo et al [3] and Soriano et al [4] recycled robotic arms for automation engineering education. The robot in [3] is useful for student academic training, whose controller cabinet was developed by students using a PLC architecture. On the other hand, the robot in [4] is built with recycled LEGO pieces, and it is controlled with an Arduino Mega board, which is programmed using the Simulink Support Package for Arduino Hardware.…”

Section: Introductionmentioning

confidence: 99%

Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture

Concha

Figueroa-Rodríguez

Fuentes-Covarrubias

et al. 2020

Sensors

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This article presents a methodology to recycle and upgrade a 4-DOF educational robot manipulator with a gripper. The robot is upgraded by providing it an artificial vision that allows obtaining the position and shape of objects collected by it. A low-cost and open-source hardware solution is also proposed to achieve motion control of the robot through a decentralized control scheme. The robot joints are actuated through five direct current motors coupled to optical encoders. Each encoder signal is fed to a proportional integral derivative controller with anti-windup that employs the motor velocity provided by a state observer. The motion controller works with only two open-architecture Arduino Mega boards, which carry out data acquisition of the optical encoder signals. MATLAB-Simulink is used to implement the controller as well as a friendly graphical interface, which allows the user to interact with the manipulator. The communication between the Arduino boards and MATLAB-Simulink is performed in real-time utilizing the Arduino IO Toolbox. Through the proposed controller, the robot follows a trajectory to collect a desired object, avoiding its collision with other objects. This fact is verified through a set of experiments presented in the paper.

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Recycling A Discarded Robotic Arm For Automation Engineering Education

Cited by 8 publications

References 12 publications

A coupling library for the force dimension haptic devices and the 20-sim modelling and simulation environment

A coupling library for the force dimension haptic devices and the 20-sim modelling and simulation environment

Enhancing Teaching Methods on Embedded Systems with Project-Based Learning

Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture

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