Robotic Arm Position Computing Method in the 2D and 3D Spaces

Szabó, Roland; Ricman, Radu-Stefan

doi:10.3390/act12030112

Cited by 3 publications

(2 citation statements)

References 43 publications

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“…The primary requirement for accomplishing this work is analyzing the end effector position concerning the target. The study on the position of the arm is done based on computational methods [7].…”

Section: Technical Reviewmentioning

confidence: 99%

Optimizing Robotic Arm Precision With Real-Time Machine Vision Feedback

K.V,

R S

2024

Proceedings of the First International Conference on Science, Engineering and Technology Practices for Sustainable Development,

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Industries play a vital role in the evolution of various innovations, and hardware and robotic arms are essential aids for automation. The main objective of a robotic arm is to perform infinite tasks in a variety of environments and can automate the execution of repetitive tasks. It is essential to update the design of robotic arms to achieve the desired accuracy. Most of the existing robotic arms use coordinate-based working space that results in offset errors in industrial applications where assembly lines are used. In this paper, machine vision is employed to cater to precision needs. On identification of the target site, the arm movements are generated accordingly.Further processing and movement of the arm synchronize, providing a solution to the offset-based problems. The arm moves to the desired target site with no error or misalignment based on the actions. The two major sections of the arms include Image Segmentation (IS) and Inverse Kinematics (IK) for machine vision and arm movement. These two parts are at the server end, and arm movement is attained through a separate microcontroller. However, the more extensive convergence time towards the desired target site is the limitation. Moreover, the prototype can be improved by using industry-standard tools and fine-tuning the design of processing parts. This prototype can be extended to various applications of high-level assembly line robotic manipulators in industries.

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Section: Technical Reviewmentioning

confidence: 99%

Optimizing Robotic Arm Precision With Real-Time Machine Vision Feedback

K.V,

R S

2024

Proceedings of the First International Conference on Science, Engineering and Technology Practices for Sustainable Development,

View full text Add to dashboard Cite

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“…Pittelkau obtained the absolute standard error model and gyroscope error model using the Kalman filtering (KF) algorithm and derived the noise matrix for the calculation process based on this model [16]. Szabo proposed a calibration method to calculate the position iteratively based on two observations, greatly reducing the number of steps required for calibration [17].…”

Section: Introductionmentioning

confidence: 99%

In-Flight Calibration of Lorentz Actuators for Non-Contact Close-Proximity Formation Satellites with Cooperative Control

Liao,

Song,

Weng

et al. 2024

Actuators

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The non-contact close-proximity formation satellite (NCCPFS) is one of the technical solutions to improve the attitude performance, consisting of a payload module (PM) and a support module (SM). The non-contact Lorentz actuator (NCLA), as the core components of the NCCPFS, directly affect the attitude control performance of the entire satellite. In order to ensure the ultra-high attitude pointing performance and stability of the PM, an in-flight calibration method for the NCLAs based on minimum model error (MME) algorithm and Kalman filtering (KF) with cooperative control strategy is proposed in this article. In this method, the NCLAs generate a periodic nominal torque that causes the attitude of the PM to be periodically deflected. This periodic torque also reacts on the SM, and the SM counteracts this periodic torque through the flywheel to realize the cooperative tracking relative to the PM. Then, the gyroscope data are substituted into the MME algorithm to obtain the angular acceleration of the two modules, and the KF algorithm is adopted to observe the actual output torque of the NCLAs to complete the in-flight calibration of the NCLAs. Numerical simulation results show that the accuracy of the proposed calibration algorithm can reach about 8%, which proves the effectiveness of the proposed method.

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