DOCSLIB.ORG

Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional–Derivative Control

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional–Derivative Control Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional–Derivative Control Gastón H. Salazar-Silva1, Marco A. Moreno-Armendáriz2, and Jaime Álvarez Gallegos3 1Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City, Mexico 2Centro de Investigación en Computación, Instituto Politécnico Nacional, Mexico City, Mexico 3Secretaría de Investigación y Posgrado, Instituto Politécnico Nacional, Mexico City, Mexico [email protected] Abstract. A mobile manipulator is a robotic arm modelado de manipuladores móvil que transforma el mounted on a mobile robot; a particular example is problema a el modelado de un manipulador estacionario a manipulator arm on a mobile robot with differential con restricciones cinemáticas no holónomas en traction. Mobile manipulators have many advantages las articulaciones. También se presenta un control over stationary manipulator, such as a larger work en el espacio de tarea que cancela un control space than a stationary manipulator could have in proporcional–diferencial proveniente de fabrica y usa practice. This paper shows a systematic approach un estimado de la derivada del modelo cinemático to modeling mobile manipulators that transforms the de postura. Finalmente, se presentan los resultados problem to the modeling of a stationary manipulator obtenidos en un experimento numérico. with non-holonomic kinematic constraints on the joints. Palabras clave. Control de robot, manipuladores It is also presented a task-space control that cancels móviles, cinemática de robots. a factory-installed proportional–derivative (PD) control and it uses an estimate of the derivative of the posture kinematic model. Finally, a numerical experiment is presented using this method. 1 Introduction Keywords. Robot control, mobile manipulators, robots The robots are coming out from the structured kinematics. environments in factories and they begin to appear in places such as houses, offices and hospitals, Modelado y control en espacio de where the surroundings have little structure or tarea de un manipulador móvil con not at all [8]; the mobile manipulators are a cancelación de control solution for these new work spaces. Basically, proporcional–derivativo instalado en a mobile manipulator is a stationary manipulator fábrica mounted on a mobile robot so the locomotion and manipulation tasks may be performed Resumen. Un manipulador móvil es un sistema simultaneously (Figure 1); these capabilities give to compuesto por un manipulador estacionario montado the mobile manipulator advantages over stationary sobre un robot móvil; un ejemplo particular es un brazo manipulador montado sobre un robot de tracción manipulators like a bigger task space and a diferencial. Los manipuladores móviles presentan varias greater autonomy; a mobile manipulator also has ventajas con respecto a manipuladores estacionarios, disadvantages, such as non-holonomic kinematic por ejemplo un mayor espacio de trabajo. En el constraints. Previously, the mobile-manipulator presente trabajo se muestra un método para el control was focused in handling separately the tasks of locomotion and manipulation, for example The present paper shows a new methodology in [17] the locomotion problem is the issue, or in for modeling and control a mobile manipulator [7, 19] where the manipulation was the control assuming that the robot behaves as an stationary problem; now these two tasks can be handled as manipulator with kinematic constraints on the one problem; for example, in [2, 17], a kinematic joints. The outline of this work is as follows: control is developed; there are literature that First a review on modeling techniques for presents results with the dynamic control of a stationary manipulators and mobile robots is mobile manipulator; for example in [1] a dynamic presented (Section 2). After that, an integrated control is used to reduce the balancing oscillation; modeling technique for kinematic models of also, a dynamic redundancy resolution control is mobile manipulators is presented (Section 3) and applied in [18] but the control is not robust; in [9] applied to obtain a dynamic model of the mobile a optimal dynamic control is developed to track a manipulator (Section 4). To obtain a kinematic trajectory considering the maximum load-carrying model the non-holonomic constraints are modeled capacity of the robot while it avoids obstacles. as a mapping between the actuation space and On the other hand, the kinematic modeling the joint space, using the so called configuration problem is still handled as two separate problems, kinematic model. Then, with the obtained and the resulting models are then combined to kinematic and dynamic models, a task-space obtain a model of the whole robot; these problem control is developed (Section 5). Finally, the results are solved using different techniques, for example of numerical simulations for the task-space control in [4, 10, 15, 14, 13, 3]; in [12] a method is are showed assuming a 5-DOF differential-traction presented that combines the kinematic models mobile manipulator (Section 6). of the mobile base and the manipulator, but the mobile base and the manipulator are still modeled 2 Kinematic Modeling Techniques for with different methods; very interesting examples are [14] and [13], where both the mobile base and Stationary and Mobile Robots the manipulator have non-holonomic constraints and yet are modeled by different methods. A In a stationary manipulator, a kinematic model fundamental work for mobile-robots modeling is describes the relation between the motion of [5]; in it a classification for wheeled mobile robots a mechanical system and the motion of the is presented, based on their degree of mobility actuators. This model is conceptually obtained and degree of maneuverability, and four types of through the so called forward kinematics, which is models are proposed. the function that describes the relation between the posture of the final effector of the robot in task space and the value of the joint variables of the robot. The forward kinematics is usually expressed as rm = fm(q) (1) p where rm 2 R is the posture variables vector, n q 2 R is the joints displacement vector, and n is the dimension of q, usually called degree of freedom (DOF). A widely used tool to obtain the forward kinematics of a stationary manipulator is the homogeneous transformation matrix [16]; this matrix can be constructed with the help of the Denavit–Hartenberg parameters; these parameters describes the geometric characteristics of the links and joints of a robot. The kinematic model of a stationary manipulator with full-actuated independent joints is then Figure 1. The experimental system is composed of a obtained through the time derivative of (1) by a Pioneer 3DX mobile robot and a Cyton manipulator arm with 7 DOF r˙m(t) = Jm(q)q˙(t) (2) p n where r˙m 2 R are the posture velocities, q˙ 2 R where x and y are the coordinates on the plane on are the joint velocities of the manipulator, and the which the mobile robot moves and f is the robot p×n matrix Jm(q) 2 R is the so called Jacobian and it orientation on such plane. If the mobile robot has is defined as centered orientable wheels, the posture must be ¶ fm extended to include the angles of the wheels. The Jm(q) = (q). ¶q posture kinematic model of a wheeled mobile robot Another way to compute the Jacobian is the with differential traction can be expressed as [5] geometric method [16], that has the advantage of not requiring an explicit computation of the r˙b(t) = B(q)hb (4) derivatives of the forward kinematic, as uses n−k where hb(t) 2 R is the vector which contains numeric information from the homogeneous n×(n−k) transformations. the velocities of the actuators, and B(qb) 2 R is a matrix with its columns being a base of On the other hand, the motion of a wheeled the null space of the non-holonomic constraints; mobile robot is characterized by the kinematic The posture kinematic model is useful in the constraints imposed by the wheels [11, 5]. computation of control laws in the task space; on A kinematic constraint may be holonomic or the other hand, the configuration kinematic model non-holonomic. A mechanical system is said to be is used to simplify the dynamic model of mobile holonomic if there is a set of k constraints to the robot. motion; these constraints may be expressed as The second model describes a relation between hi(q) = 0, i = 1, :::,k the joints motion and the actuators motion, called configuration kinematic model, and it is defined as where hi are scalar functions; such constraints are geometric and they limit where may be the system q˙b = Sb(q)hb (5) configuration. If the mechanical system is limited n×(n−k) by constraints expressed as where Sb(q) 2 R is a matrix with its columns belongs to the null space of the constraint matrix ai(q,q ˙) = 0 Ab. For example, in a differential-traction mobile then the system is called non-holonomic and these robot, the configuration kinematic model can be constraints limit how the mechanical system can defined as move, but not restrict where the system can be. 0 cosf 0 1 A special kind of non-holonomic constraint is the S (q) = sinf 0 . so the called Pfaffian form, in where the constraint b @ A 0 1 equations are linear with respect the joint velocities It is important to remark that S (q) is an annihilator ai(q)q˙ = 0. b of the kinematic constraints, such that The kinematic model of a mobile robot can be T obtained from the null space of the non-holonomic Ab(q) Sb(q) = 0 (6) kinematic constraints of the robot. n×k In mobile robots, there are two kinds of kinematic where the matrix Ab(q) 2 R defines the models [11, 5].
Load more

Recommended publications
  • Modeling and Control of Underwater Robotic Systems
    Modeling and Control of Underwater Robotic Systems Dr.ing. thesis Ingrid Schj0lberg Department of Engineering Cybernetics Norwegian University of Science and Technology March 1996 Report 96-21-W Department of Engineering Cybernetics Norwegian University of Science and Technology N-7034 Trondheim, Norway OBmetmoN of im doombst b mwia DISCLAI R Portions of tins document may be Illegible in electronic image products. Images are produced from the best available original document Preface This thesis is submitted for the Doktor ingenipr degree at the Norwegian University of Science and Technology (NTNU). The research was carried out at the Norwegian Institute of Technology (NTH), Department of Engi ­ neering Cybernetics, in the period from January 1991 to March 1996. The work was funded by The Research Council of Norway (NFR) through the MOBATEL project. Professor Dr.ing. Olav Egeland was my supervisor. During the academic year 1992-1993 I worked at the European Organization for Nuclear Research (CERN). This stay was funded by TOTAL Norge. The work performed during this stay has not been included in this thesis. I am indebted to Professor Egeland for giving me the opportunity to take this study. I am also grateful for advice and comments during the writing of scientific articles and for the introduction to the fields of force control and vibration damping. I am thankful to the administrator of the MOBATEL project, Professor Jens G. Balchen, for letting me take part in this project. I am grateful to Professor Dr.ing. Thor I. Fossen for useful discussions on hydrodynamics. I want to express my gratitude to Dr.ing.
    [Show full text]
  • Design and Evaluation of Modular Robots for Maintenance in Large Scientific Facilities
    UNIVERSIDAD POLITÉCNICA DE MADRID ESCUELA TÉCNICA SUPERIOR DE INGENIEROS INDUSTRIALES DESIGN AND EVALUATION OF MODULAR ROBOTS FOR MAINTENANCE IN LARGE SCIENTIFIC FACILITIES PRITHVI SEKHAR PAGALA, MSC 2014 DEPARTAMENTO DE AUTOMÁTICA, INGENIERÍA ELECTRÓNICA E INFORMÁTICA INDUSTRIAL ESCUELA TÉCNICA SUPERIOR DE INGENIEROS INDUSTRIALES DESIGN AND EVALUATION OF MODULAR ROBOTS FOR MAINTENANCE IN LARGE SCIENTIFIC FACILITIES PhD Thesis Author: Prithvi Sekhar Pagala, MSC Advisors: Manuel Ferre Perez, PhD Manuel Armada, PhD 2014 DESIGN AND EVALUATION OF MODULAR ROBOTS FOR MAINTENANCE IN LARGE SCIENTIFIC FACILITIES Author: Prithvi Sekhar Pagala, MSC Tribunal: Presidente: Dr. Fernando Matía Espada Secretario: Dr. Claudio Rossi Vocal A: Dr. Antonio Giménez Fernández Vocal B: Dr. Juan Antonio Escalera Piña Vocal C: Dr. Concepción Alicia Monje Micharet Suplente A: Dr. Mohamed Abderrahim Fichouche Suplente B: Dr. José Maráa Azorín Proveda Acuerdan otorgar la calificación de: Madrid, de de 2014 Acknowledgements The duration of the thesis development lead to inspiring conversations, exchange of ideas and expanding knowledge with amazing individuals. I would like to thank my advisers Manuel Ferre and Manuel Armada for their constant men- torship, support and motivation to pursue different research ideas and collaborations during the course of entire thesis. The team at the lab has not only enriched my professionally life but also in Spanish ways. Thank you all the members of the ROMIN, Francisco, Alex, Jose, Jordi, Ignacio, Javi, Chema, Luis .... This research project has been supported by a Marie Curie Early Stage Initial Training Network Fellowship of the European Community’s Seventh Framework Program "PURESAFE". I wish to thank the supervisors and fellow research members of the project for the amazing support, fruitful interactions and training events.
    [Show full text]
  • Special Feature on Advanced Mobile Robotics
    applied sciences Editorial Special Feature on Advanced Mobile Robotics DaeEun Kim School of Electrical and Electronic Engineering, Yonsei University, Shinchon, Seoul 03722, Korea; [email protected] Received: 29 October 2019; Accepted: 31 October 2019; Published: 4 November 2019 1. Introduction Mobile robots and their applications are involved with many research fields including electrical engineering, mechanical engineering, computer science, artificial intelligence and cognitive science. Mobile robots are widely used for transportation, surveillance, inspection, interaction with human, medical system and entertainment. This Special Issue handles recent development of mobile robots and their research, and it will help find or enhance the principle of robotics and practical applications in real world. The Special Issue is intended to be a collection of multidisciplinary work in the field of mobile robotics. Various approaches and integrative contributions are introduced through this Special Issue. Motion control of mobile robots, aerial robots/vehicles, robot navigation, localization and mapping, robot vision and 3D sensing, networked robots, swarm robotics, biologically-inspired robotics, learning and adaptation in robotics, human-robot interaction and control systems for industrial robots are covered. 2. Advanced Mobile Robotics This Special Issue includes a variety of research fields related to mobile robotics. Initially, multi-agent robots or multi-robots are introduced. It covers cooperation of multi-agent robots or formation control. Trajectory planning methods and applications are listed. Robot navigations have been studied as classical robot application. Autonomous navigation examples are demonstrated. Then services robots are introduced as human-robot interaction. Furthermore, unmanned aerial vehicles (UAVs) or autonomous underwater vehicles (AUVs) are shown for autonomous navigation or map building.
    [Show full text]
  • Special Issue On
    FACTA UNIVERSITATIS Series: Mechanics, Automatic Control and Robotics Vol. 6, Special Issue, 2007, pp. I - VIII Special Issue on Advanced Controls And Signal Processing in Active And Robotic Systems Foreword by the Guest Editor For quite some time the idea about this special cross-disciplinary issue has been both puz- zling as well as troubling me until finally I came to a positive conclusion. To my joy, Prof. Dr. Katica R. (Stevanović) Hedrih, Madam Editor-in-Chief of Facta Universitaties Series on Mechanics, Automatics Control and Robotics, embraced this idea frankly and not only devoted her efforts and time but also her passionate co-operation in all respects. Furthermore, to even greater joy of mine, a number of distinguished colleagues as well as young researchers have embraced the idea too. They all co-operated with me on this special issue with patience, for which I remain indebted to them for life. Here it is now this special issue before the competent research communities for final evaluation. For indeed their words are the final ones. This special issue begins with the article "Nanorobots for Microfactories to Operations in the Human Body and Robots Propelled by Bacteria" by Professor Sylvain Martel form Ottawa, Can- ada. This article is focused on the exploitation of the properties at the nanoscale that enables novel nanorobotic-based instrumented platforms and techniques. Some unique interdisciplinary examples from his research laboratory are described thus providing certain insights about the possibilities and the huge potentials of nanorobotics with main application areas in medicine and bioengineering. These also include supporting the new robotic platforms for micro- and nano- manufacturing and high-throughput automatic operations at the nanoscale.
    [Show full text]
  • Collaborative Mobile Industrial Manipulator : a Review of System Architecture and Applications
    This is a repository copy of Collaborative mobile industrial manipulator : a review of system architecture and applications. White Rose Research Online URL for this paper: https://eprints.whiterose.ac.uk/151956/ Version: Accepted Version Proceedings Paper: Yang, M., Yang, E. F., Zante, R. C. et al. (2 more authors) (2019) Collaborative mobile industrial manipulator : a review of system architecture and applications. In: Proceedings of the 25th International Conference on Automation & Computing, Newcastle University, Newcastle upon Tyne, UK. Reuse Items deposited in White Rose Research Online are protected by copyright, with all rights reserved unless indicated otherwise. They may be downloaded and/or printed for private study, or other acts as permitted by national copyright laws. The publisher or other rights holders may allow further reproduction and re-use of the full text version. This is indicated by the licence information on the White Rose Research Online record for the item. Takedown If you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing [email protected] including the URL of the record and the reason for the withdrawal request. [email protected] https://eprints.whiterose.ac.uk/ Proceedings of the 25th International Conference on Automation & Computing, Newcastle University, Newcastle upon Tyne, UK, 6-7 September 2019 Collaborative mobile industrial manipulator: A review of system architecture and applications Manman Yang1, Erfu Yang1, Remi Christophe Zante1, Mark Post2, Xuefeng Liu3 1Design, Manufacture & Engineering Management University of Strathclyde, Glasgow G1 1XJ, UK Email: {manman.yang, erfu.yang, remi.zante}@strath.ac.uk 2Department of Electronic Engineering University of York, York, UK Email: [email protected] 3School of Electronic and Optical Engineering Nanjing University Of Science And Technology, Nanjing, China Email: [email protected] Abstract—This paper provides a comprehensive review of the carried out in future [2].
    [Show full text]
  • Acknowledgements Acknowl
    2161 Acknowledgements Acknowl. B.21 Actuators for Soft Robotics F.58 Robotics in Hazardous Applications by Alin Albu-Schäffer, Antonio Bicchi by James Trevelyan, William Hamel, The authors of this chapter have used liberally of Sung-Chul Kang work done by a group of collaborators involved James Trevelyan acknowledges Surya Singh for de- in the EU projects PHRIENDS, VIACTORS, and tailed suggestions on the original draft, and would also SAPHARI. We want to particularly thank Etienne Bur- like to thank the many unnamed mine clearance experts det, Federico Carpi, Manuel Catalano, Manolo Gara- who have provided guidance and comments over many bini, Giorgio Grioli, Sami Haddadin, Dominic Lacatos, years, as well as Prof. S. Hirose, Scanjack, Way In- Can zparpucu, Florian Petit, Joshua Schultz, Nikos dustry, Japan Atomic Energy Agency, and Total Marine Tsagarakis, Bram Vanderborght, and Sebastian Wolf for Systems for providing photographs. their substantial contributions to this chapter and the William R. Hamel would like to acknowledge work behind it. the US Department of Energy’s Robotics Crosscut- ting Program and all of his colleagues at the na- C.29 Inertial Sensing, GPS and Odometry tional laboratories and universities for many years by Gregory Dudek, Michael Jenkin of dealing with remote hazardous operations, and all We would like to thank Sarah Jenkin for her help with of his collaborators at the Field Robotics Center at the figures. Carnegie Mellon University, particularly James Os- born, who were pivotal in developing ideas for future D.36 Motion for Manipulation Tasks telerobots. by James Kuffner, Jing Xiao Sungchul Kang acknowledges Changhyun Cho, We acknowledge the contribution that the authors of the Woosub Lee, Dongsuk Ryu at KIST (Korean Institute first edition made to this chapter revision, particularly for Science and Technology), Korea for their provid- Sect.
    [Show full text]
  • Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment
    applied sciences Article Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment Iwona Pajak † and Grzegorz Pajak *,† Institute of Mechanical Engineering, University of Zielona Gora, 65-516 Zielona Gora, Poland; [email protected] * Correspondence: [email protected] † These authors contributed equally to this work. Abstract: This paper presents the usage of holonomic mobile humanoid manipulators to carry out autonomous tasks in industrial environments, according to the smart factory concept and the Industry 4.0 philosophy. The problem of transporting lengthy objects, taking into account mechanical limitations, the conditions for avoiding collisions, as well as the dexterity of the manipulator arms was considered. The primary problem was divided into three phases, leading to three different types of robotic tasks. In the proposed approach, the pseudoinverse Jacobian method at the acceleration level to solve each of the tasks was used. The redundant degrees of freedom were used to satisfy secondary objectives such as robot kinetic energy, the maximization of the manipulability measure, and the fulfillment mechanical and collision-avoidance limitations. A computer example involving a mobile humanoid manipulator, operating in an industrial environment, illustrated the effectiveness of the proposed method. Keywords: humanoid manipulator; mobile robot; motion planning; transportation task Citation: Pajak, I.; Pajak, G. Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment. Appl. Sci. 2021, 11, 1. Introduction 6209. https://doi.org/10.3390/ The history of industrial robotics dates back to the 1950s. At that time, the first designs app11136209 of numerically controlled machine tools and programmable manipulators for industrial applications were created.
    [Show full text]
  • Experimental Results on Motion Generation and Control of Non-Holonomic Mobile Manipulator Pierre Dauchez, Philippe Fraisse, Arnaud Lelevé, François Pierrot
    Experimental results on motion generation and control of non-holonomic mobile manipulator Pierre Dauchez, Philippe Fraisse, Arnaud Lelevé, François Pierrot To cite this version: Pierre Dauchez, Philippe Fraisse, Arnaud Lelevé, François Pierrot. Experimental results on mo- tion generation and control of non-holonomic mobile manipulator. ISR: International Symposium on Robotics, Oct 1999, Tokyo, Japan. hal-00189539 HAL Id: hal-00189539 https://hal.archives-ouvertes.fr/hal-00189539 Submitted on 22 Jan 2019 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Experimental Results on Motion Generation and Control of a Non-Holonomic Mobile Manipulator P. Dauchez (IEEE Senior Member), P. Fraisse, A. Lelevé, F. Pierrot (IEEE Senior Member) LIRMM - UMR 5506 Université Montpellier II / CNRS 161 rue Ada - 34392 Montpellier CEDEX 5 - FRANCE Submitted for presentation at the 30th International Symposium on Robotics (ISR) to be held in Tokyo, October 27-29, 1999 Topic 2: Applied Research and Technology (Kinematics, Dynamics and Motion Control) Keywords: Mobile Manipulators, Non-Holonomy, Motion Generation, Experimental Tests Speaker: Dr. Pierre Dauchez Tel: (+33) 467 41 85 61 Fax: (+33) 467 41 85 00 e-mail: [email protected] 1 1.
    [Show full text]
  • Mobile Manipulator Stability Measurements
    NIST Technical Note 1955 Mobile Manipulator Stability Measurements Roger Bostelman Tsai Hong This publication is available free of charge from: https://doi.org/10.6028/NIST.TN.1955 NIST Technical Note 1955 Mobile Manipulator Stability Measurements Roger Bostelman* Tsai Hong Intelligent Systems Division Engineering Laboratory *Le2i, Université de Bourgogne, BP 47870, 21078 Dijon, France This publication is available free of charge from: https://doi.org/10.6028/NIST.TN.1955 April 2017 U.S. Department of Commerce Wilbur L. Ross, Jr., Secretary National Institute of Standards and Technology Kent Rochford, Acting NIST Director and Under Secretary of Commerce for Standards and Technology Certain commercial entities, equipment, or materials may be identified in this document in order to describe an experimental procedure or concept adequately. Such identification is not intended to imply recommendation or endorsement by the National Institute of Standards and Technology, nor is it intended to imply that the entities, materials, or equipment are necessarily the best available for the purpose. National Institute of Standards and Technology Technical Note 1955 Natl. Inst. Stand. Technol. Tech. Note 1955, 13 pages (April 2017) CODEN: NTNOEF This publication is available free of charge from: https://doi.org/10.6028/NIST.TN.1955 ______________________________________________________________________________________________________ Abstract Mobile manipulators are being marketed for material handling and other tasks. Manufacturers suggest that the stability of the vehicle is best when the onboard loading tapers the centroid to the center of the wheelbase as the payload height increases. Experiments were performed at the National Institute of Standards and Technology (NIST) that verify this notion on an Adept Lynx mobile robot with onboard Universal Robots UR5 This manipulator.
    [Show full text]
  • Kinematic Analysis of an Articulated Robotic Manipulator
    ISSN(Online): 2395-7638 International Journal of Recent Research in Science, Engineering and Technology Vol. 1, Issue 8, November 2015 Kinematic Analysis of an Articulated Robotic Manipulator K.Kumaraesan Assistant Professor, Department of Mechanical Engineering, Kings Engineering College,Tamil Nadu, India. ABSTRACT: This paper describes the design, fabrication and analysis a five axes articulated robotic manipulator. The current work is undertaken by considering various commercially available robotic kits to design and fabricate a five degree of freedom (D.O.F) arm. Forward kinematic model has been presented in order to determine the end effectors position and orientation. Although this work is still in primary level, this analysis is useful for path tracking of an industrial manipulator with pick-and-place application. Based on this analysis, a researcher can develop path tracking behaviour of an end effector in complicated work space. KEYWORDS: 5-DOF robotic arm, 5-axes articulate robotic manipulator, kinematic analysis.. I. INTRODUCTION Industrial robots are not completely androids that mimic human, but are more anthropomorphic in nature, in the sense that they are designed with resemblance to a human hand; and are also incapable of self-movement. The requirement graph for these industrial robots has always been an upward one. Faster robots with multiple functions to increase production and reduce manufacturing cost are the necessity of the day. Factors such as: better precision, accuracy and repeatability; maximum load carrying capacity and work space and versatile operating environments are being given utmost importance during the development of any industrial robot. The history of industrial automation [1-2] is characterized by periods of rapid change in popular methods.
    [Show full text]
  • Advancements in Autonomous Mobile Manipulation
    1 Advancements in Autonomous Mobile Manipulation Norm Williams, Director of Robotics Omron - Americas Produced by: Agenda - Advancements in Autonomous Mobile Manipulation • What Is Driving The Demand • Manufacturing and Retail Challenges • The Technology, Components & Integration • Real World Applications What is Driving the Demand for Mobile Manipulators • According to a study by Deloitte and the Manufacturing Institute, the skills gap may leave an estimated 2.4 million positions unfilled between 2018 and 2028. • The Society of Manufacturing Engineers (SME) reports that 89% of manufacturers are having difficulty finding skilled workers, which is partially due to an aging, retiring workforce and lack of desire among younger workers to enter the manufacturing field. • Research by Korn Ferry Institute estimates that the labor shortage in the global manufacturing industry could result in more than $607 billion in lost revenue by 2030, with the U.S. representing more than 10% of the global deficit at a total of $73 billion in unrealized output. Manufacturing Challenges Mobile Manipulation in Manufacturing Robotic Automation Line Autonomous Transportation Customer Needs • Flexible Manufacturing • Small Lot Sizes integrated intelligent • Quick Change Over • Increased throughput Applications • Machine Tending • Line Replenishment • Pick and Place Operations • Material Transport • Automated Inspection Continuous Improvement & interactive Zero Downtime Logistic and Operational Challenges Mobile Manipulation in Logistics Finished goods to Lineside
    [Show full text]
  • A Novel Robotic Framework for Safe Inspection and Telemanipulation in Hazardous and Unstructured Environments
    UNIVERSIDAD POLITÉCNICA DE MADRID ESCUELA TÉCNICA SUPERIOR DE INGENIEROS INDUSTRIALES A NOVEL ROBOTIC FRAMEWORK FOR SAFE INSPECTION AND TELEMANIPULATION IN HAZARDOUS AND UNSTRUCTURED ENVIRONMENTS DOCTOR OF PHILOSOPHY AUTOMATION AND ROBOTICS MARIO DI CASTRO September 27, 2019 UNIVERSIDAD POLITÉCNICA DE MADRID ESCUELA TÉCNICA SUPERIOR DE INGENIEROS INDUSTRIALES CERN - EUROPEAN ORGANIZATION FOR NUCLEAR RESEARCH A NOVEL ROBOTIC FRAMEWORK FOR SAFE INSPECTION AND TELEMANIPULATION IN HAZARDOUS AND UNSTRUCTURED ENVIRONMENTS DOCTOR OF PHILOSOPHY AUTOMATION AND ROBOTICS Author: Mario Di Castro Electronic Engineer Advisors: Dr. Manuel Ferre Pérez Universidad Politécnica de Madrid Dr. Alessandro Masi CERN - European Organization for Nuclear Research September 27, 2019 A NOVEL ROBOTIC FRAMEWORK FOR SAFE INSPECTION AND TELEMANIPULATION IN HAZARDOUS AND UNSTRUCTURED ENVIRONMENTS Autor: Mario Di Castro Tribunal Presidente: Dr. Claudio Rossi Secretario: Dr. Paloma de la Puente Vocal A: Dr. Cristina Adorisio Vocal B: Dr. Antonio Giménez Fernández Vocal C: Dr. Raúl Marín Prades Suplente A: Dr. Marco Pezzetti Suplente B: Dr. Concepción Alicia Monje Micharet Acuerdan otorgar la calificatión de: Madrid, de, 2019 Acknowledgments First of all, I would like to express my deep gratitude to my research supervisor, Professor Manuel Ferre Pérez, for his patient guidance, enthusiastic encouragement and useful critiques of this thesis. An immense thankfulness goes to my CERN supervisor, Doctor Alessandro Masi, who has believed in my potential and who has always supported me during the last years, being my mentor and my inspiration. Thanks to the unconditional support of Roberto Losito for the direction of the Engineering Department at CERN, that provides extraordinary opportunities and individual development to its scientists. I would like to express my great appreciation and deep respect to Professor Raul Marin for the support for writing of the thesis, help and profound discussions on teleoperation and robotic controls.
    [Show full text]