A Course Material on Robotics by Mr. V.SENTNILRAJA ASSISTANT
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A Method of Welding Path Planning of Steel Mesh Based on Point Cloud for Welding Robot
A Method of Welding Path Planning of Steel Mesh Based on Point Cloud for Welding Robot Yusen Geng Center for Robotics, School of Control Science and Engi- neering, Shandong University Jinan 250061, China Yuankai Zhang Center for Robotics, School of Control Science and Engi- neering, Shandong University Jinan 250061, China Xincheng Tian ( [email protected] ) Center for Robotics, School of Control Science and Engi- neering, Shandong University Jinan 250061, China Xiaorui Shi Sinotruk Industry Park Zhangqiu, Sinotruk Jinan Power Co.,Ltd. Jinan 250220, China Xiujing Wang Sinotruk Industry Park Zhangqiu, Sinotruk Jinan Power Co.,Ltd. Jinan 250220, China Yigang Cui Sinotruk Industry Park Zhangqiu, Sinotruk Jinan Power Co.,Ltd. Jinan 250220, China Research Article Keywords: Without teaching and programming, 3D structured light camera, Steel mesh point cloud, Welding path planning Posted Date: April 7th, 2021 DOI: https://doi.org/10.21203/rs.3.rs-379414/v1 License: This work is licensed under a Creative Commons Attribution 4.0 International License. Read Full License Version of Record: A version of this preprint was published at The International Journal of Advanced Manufacturing Technology on July 15th, 2021. See the published version at https://doi.org/10.1007/s00170-021-07601-6. Noname manuscript No. (will be inserted by the editor) 1 2 3 4 5 6 A method of welding path planning of steel mesh based on 7 8 point cloud for welding robot 9 10 Yusen Geng1,2 · Yuankai Zhang1,2 · Xincheng Tian1,2 B · Xiaorui Shi3 · 11 Xiujing Wang3 · Yigang Cui3 12 13 14 15 16 17 18 Received: date / Accepted: date 19 20 21 Abstract At present, the operators needs to carry out 1 Introduction 22 complicated teaching and programming work on the 23 welding path planning for the welding robot before weld- With the rapid development of automation and robot 24 ing the steel mesh. -
Mobile Robot Kinematics
Mobile Robot Kinematics We're going to start talking about our mobile robots now. There robots differ from our arms in 2 ways: They have sensors, and they can move themselves around. Because their movement is so different from the arms, we will need to talk about a new style of kinematics: Differential Drive. 1. Differential Drive is how many mobile wheeled robots locomote. 2. Differential Drive robot typically have two powered wheels, one on each side of the robot. Sometimes there are other passive wheels that keep the robot from tipping over. 3. When both wheels turn at the same speed in the same direction, the robot moves straight in that direction. 4. When one wheel turns faster than the other, the robot turns in an arc toward the slower wheel. 5. When the wheels turn in opposite directions, the robot turns in place. 6. We can formally describe the robot behavior as follows: (a) If the robot is moving in a curve, there is a center of that curve at that moment, known as the Instantaneous Center of Curvature (or ICC). We talk about the instantaneous center, because we'll analyze this at each instant- the curve may, and probably will, change in the next moment. (b) If r is the radius of the curve (measured to the middle of the robot) and l is the distance between the wheels, then the rate of rotation (!) around the ICC is related to the velocity of the wheels by: l !(r + ) = v 2 r l !(r − ) = v 2 l Why? The angular velocity is defined as the positional velocity divided by the radius: dθ V = dt r 1 This should make some intuitive sense: the farther you are from the center of rotation, the faster you need to move to get the same angular velocity. -
Experiment on Optimization of Robot Welding Process Parameters
International Journal of Recent Technology and Engineering (IJRTE) ISSN: 2277-3878, Volume-8, Issue-1S4, June 2019 Experiment on Optimization of Robot Welding Process Parameters G DilliBabu, D Siva Sankar, K. Sivaji Babu ABSTRACT---Resistance spot welding plays an important role short time and Use pressure on sheets to join. Fluxes are not in the manufacturing industry especially in the automobile used in the RSW process, and use of filler metal is very rare sector. There is a lot of research work in the area of manually [2]. spot welding process and optimization of spot welding parameters. Currently there is more demand on robot spot welding process in the manufacturing unit. But only few research works is going on in the area of robot spot welding process and optimization of robot welding parameters. The present study gives an experimental investigation on robot resistance spot welding. Optimum robot spot welding parameters were identified by using Taguchi design of experiments approach. Also the results are analyzed by using Analysis of Variance ANOVA. Keywords: Robot, Spot Welding, optimization. I. INTRODUCTION Resistance spot welding (RSW) is the oldest process widely being used for joining sheet metals in various industries because of its simplicity, easy for automation and reliability for bulk production. RSW is an autogenously Fig. 1. Resistance spot welding principal welding method, meaning that dissimilar other methods. It does not necessity filler metal. RSW uses the metal’s usual Kim[3] et al.based on this study, recently electrical resistance and contraction in the path of current severalautomobile industries are trying to decrease the mass flow, to produce heat at the interface. -
Abbreviations and Glossary
Appendix A Abbreviations and Glossary Abbreviations are defined and the mathematical symbols and notations used in this book are specified. Furthermore, the random number generator used in this book is referenced. A.1 Abbreviations arccos arccosine BiRRT Bidirectional rapidly growing random tree C-space Configuration space DH Denavit-Hartenberg DLR German aerospace center DOF Degree of freedom FFT Fast fourier transformation IK Inverse kinematics HRI Human-Robot interface LWR Light weight robot MMI Institute of Man-Machine interaction PCA Principal component analysis PRM Probabilistic road map RRT Rapidly growing random tree rulaCapMap Rula-restricted capability map RULA Rapid upper limb assessment SFE Shape fit error TCP Tool center point OV workspace overlap 130 A Abbreviations and Glossary A.2 Mathematical Symbols C configuration space K(q) direct kinematics H set of all homogeneous matrices WR reachable workspace WD dexterous workspace WV versatile workspace F(R,x) function that maps to a homogeneous matrix VRobot voxel space for the robot arm VHuman voxel space for the human arm P set of points on the sphere Np set of point indices for the points on the sphere No set of orientation indices OS set of all homogeneous frames distributed on a sphere MS capability map A.3 Mathematical Notations a scalar value a vector aT vector transposed A matrix AT matrix transposed < a,b > inner product 3 SO(3) group of rotation matrices ∈ IR SO(3) := R ∈ IR 3×3| RRT = I,detR =+1 SE(3) IR 3 × SO(3) A TB reference frame B given in coordinates of reference frame A a ceiling function a floor function A.4 Random Sampling In this book, the drawing of random samples is often used. -
2011 Annual Report MESSAGE from AUVSI PRESIDENT & CEO, MICHAEL TOSCANO
2011 ANNUAL REPORT MESSAGE FROM AUVSI PRESIDENT & CEO, MICHAEL TOSCANO AUVSI and the unmanned systems community as a whole had another strong year in 2011 — capabilities increased across the board, as did interest in what unmanned systems can deliver. AUVSI is only as strong as its members, and our membership continued its upward climb throughout the year. There was also greater activity by local AUVSI chapters; we added several new chapters and many existing ones conducted successful events in 2011 that will help promote and field unmanned systems. Belonging to a chapter is an excellent way to get involved with unmanned systems at the local community level. We enjoyed record-breaking attendance at AUVSI’s Unmanned Systems Program Review 2011 and AUVSI’s Unmanned Systems North America 2011 and look forward to continued growth this year. We also stepped up our advo- cacy efforts, including hosting another successful AUVSI Day on Capitol Hill and forging more partnerships with other groups that have a stake in unmanned systems. Unmanned systems were frequently in the news during the year, and we helped put them there by hosting a National Press Club event in Washington to highlight the varied uses of unmanned systems and robotics. Unmanned systems helped monitor and clean up the Fukushima Dai-ichi nuclear plant in Japan in the wake of the devastating earthquake and tsunami. They also assisted in the attack on Osama bin Laden, performed unexploded ordnance range clearance at Camp Guernsey, provided assisting technology to the National Federation of the Blind’s Blind Driver Challenge and supported state and local law enforcement, among many other uses. -
Make Robots Be Bats: Specializing Robotic Swarms to the Bat Algorithm
© <2019>. This manuscript version is made available under the CC- BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc- nd/4.0/ Accepted Manuscript Make robots Be Bats: Specializing robotic swarms to the Bat algorithm Patricia Suárez, Andrés Iglesias, Akemi Gálvez PII: S2210-6502(17)30633-8 DOI: 10.1016/j.swevo.2018.01.005 Reference: SWEVO 346 To appear in: Swarm and Evolutionary Computation BASE DATA Received Date: 24 July 2017 Revised Date: 20 November 2017 Accepted Date: 9 January 2018 Please cite this article as: P. Suárez, André. Iglesias, A. Gálvez, Make robots Be Bats: Specializing robotic swarms to the Bat algorithm, Swarm and Evolutionary Computation BASE DATA (2018), doi: 10.1016/j.swevo.2018.01.005. This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please note that during the production process errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain. ACCEPTED MANUSCRIPT Make Robots Be Bats: Specializing Robotic Swarms to the Bat Algorithm Patricia Su´arez1, Andr´esIglesias1;2;:, Akemi G´alvez1;2 1Department of Applied Mathematics and Computational Sciences E.T.S.I. Caminos, Canales y Puertos, University of Cantabria Avda. de los Castros, s/n, 39005, Santander, SPAIN 2Department of Information Science, Faculty of Sciences Toho University, 2-2-1 Miyama 274-8510, Funabashi, JAPAN :Corresponding author: [email protected] http://personales.unican.es/iglesias Abstract Bat algorithm is a powerful nature-inspired swarm intelligence method proposed by Prof. -
Radio Frequency Identification Based Smart
ISSN (Online) 2394-6849 International Journal of Engineering Research in Electronics and Communication Engineering (IJERECE) Vol 4, Issue 6, June 2017 Nanorobots – Th Future of Medicine [1] Mokshith.B.R, [2]Tripti Kulkarni [1] [2] Dept of ECE, DSATM , Associate Professor, Dept of ECE,DSATM Abstract: Nanoscale devices are able to perform better with reduced time researches in nanotechnology brought newer approaches in the field of medicine. This context focuses on the components of the nanorobots and the employment of nanorobots for removing the heart blocks, cancer treatment and many more health care applications in more effective and accurate manner. Current diagnostic measures include painful processes like the angiogram. The treatment for the block is also extremely dangerous, time consumin g and painful. Angioplasty, although having the higher success rate, is old fashioned. Today’s technology promises a lot more than the insertion of a thin tube into the blood vessels. This context focuses the brief study on nanorobots and its benefits, the current process of diagnostics and therapy. Later t he idea of curing these heart blocks, cancer tumours and brain aneurysm using nanorobots is discussed in a theoretical and imaginative a pproach. I. INTRODUCTION II. NANOROBOTS AND KEY COMPONENTS Nanorobotics is an emerging technology field Nanorobots are of special interest to researchers in the medical creating machines or robots which components are at or near industry. This has given rise to the field of nanomedicine. It the scale of a nanometre (10−9 meters). More specifically, has been suggested that a fleet of nanorobots might serve as nanorobotics (as opposed to microbotics) refers to the antibodies or antiviral agents in patients with compromised nanotechnology engineering discipline of designing and immune systems, or in diseases that do not respond to more building nanorobots, with devices ranging in size from 0.1-10 conventional measures. -
History of Robotics: Timeline
History of Robotics: Timeline This history of robotics is intertwined with the histories of technology, science and the basic principle of progress. Technology used in computing, electricity, even pneumatics and hydraulics can all be considered a part of the history of robotics. The timeline presented is therefore far from complete. Robotics currently represents one of mankind’s greatest accomplishments and is the single greatest attempt of mankind to produce an artificial, sentient being. It is only in recent years that manufacturers are making robotics increasingly available and attainable to the general public. The focus of this timeline is to provide the reader with a general overview of robotics (with a focus more on mobile robots) and to give an appreciation for the inventors and innovators in this field who have helped robotics to become what it is today. RobotShop Distribution Inc., 2008 www.robotshop.ca www.robotshop.us Greek Times Some historians affirm that Talos, a giant creature written about in ancient greek literature, was a creature (either a man or a bull) made of bronze, given by Zeus to Europa. [6] According to one version of the myths he was created in Sardinia by Hephaestus on Zeus' command, who gave him to the Cretan king Minos. In another version Talos came to Crete with Zeus to watch over his love Europa, and Minos received him as a gift from her. There are suppositions that his name Talos in the old Cretan language meant the "Sun" and that Zeus was known in Crete by the similar name of Zeus Tallaios. -
Swarm Robotics”
applied sciences Editorial Editorial: Special Issue “Swarm Robotics” Giandomenico Spezzano Institute for High Performance Computing and Networking (ICAR), National Research Council of Italy (CNR), Via Pietro Bucci, 8-9C, 87036 Rende (CS), Italy; [email protected] Received: 1 April 2019; Accepted: 2 April 2019; Published: 9 April 2019 Swarm robotics is the study of how to coordinate large groups of relatively simple robots through the use of local rules so that a desired collective behavior emerges from their interaction. The group behavior emerging in the swarms takes its inspiration from societies of insects that can perform tasks that are beyond the capabilities of the individuals. The swarm robotics inspired from nature is a combination of swarm intelligence and robotics [1], which shows a great potential in several aspects. The activities of social insects are often based on a self-organizing process that relies on the combination of the following four basic rules: Positive feedback, negative feedback, randomness, and multiple interactions [2,3]. Collectively working robot teams can solve a problem more efficiently than a single robot while also providing robustness and flexibility to the group. The swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. In the model, the robots in the swarm should have some basic functions, such as sensing, communicating, motioning, and satisfy the following properties: 1. Autonomy—individuals that create the swarm-robotic system are autonomous robots. They are independent and can interact with each other and the environment. 2. Large number—they are in large number so they can cooperate with each other. -
Ph. D. Thesis Stable Locomotion of Humanoid Robots Based
Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Department of System and Automation Engineering Legan´es, October 2008 i Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Signature of the board: Signature President Vocal Vocal Vocal Secretary Rating: Legan´es, de de Contents 1 Introduction 1 1.1 HistoryofRobots........................... 2 1.1.1 Industrialrobotsstory. 2 1.1.2 Servicerobots......................... 4 1.1.3 Science fiction and robots currently . 10 1.2 Walkingrobots ............................ 10 1.2.1 Outline ............................ 10 1.2.2 Themes of legged robots . 13 1.2.3 Alternative mechanisms of locomotion: Wheeled robots, tracked robots, active cords . 15 1.3 Why study legged machines? . 20 1.4 What control mechanisms do humans and animals use? . 25 1.5 What are problems of biped control? . 27 1.6 Features and applications of humanoid robots with biped loco- motion................................. 29 1.7 Objectives............................... 30 1.8 Thesiscontents ............................ 33 2 Humanoid robots 35 2.1 Human evolution to biped locomotion, intelligence and bipedalism 36 2.2 Types of researches on humanoid robots . 37 2.3 Main humanoid robot research projects . 38 2.3.1 The Humanoid Robot at Waseda University . 38 2.3.2 Hondarobots......................... 47 2.3.3 TheHRPproject....................... 51 2.4 Other humanoids . 54 2.4.1 The Johnnie project . 54 2.4.2 The Robonaut project . 55 2.4.3 The COG project . -
Robots Application for Welding
Műszaki Tudományos Közlemények vol. 12. (2020) 50–54. DOI: English: https://doi.org/10.33894/mtk-2020.12.07 Hungarian: https://doi.org/10.33895/mtk-2020.12.07 ROBOTS APPLICATION FOR WELDING Abdallah KAfI,1 Tünde Anna KOvács,2 László Tóth,3 Zoltán NyIKEs4 1 Óbuda University, Doctoral Scool on Safety and Security Sciences, Budapest, Hungary, [email protected] 2, 3, 4 Óbuda University, Donát Bánki Faculty of Mechanical and Safety Engineering, Budapest, Hungary, 2 kovacs.tunde@ bgk.uni-obuda.hu 3 [email protected] 4 [email protected] Abstract In this work, the authors give an overview of the advancement of industrial robots and show the mechani- zation of welding processes, step by step. As manual welding is a physically exhausting professional work, engineers have sought to improve work conditions since the industrial revolution. Unfortunately, even today, many procedures can only be performed manually. In the welding process, the highest level of mechaniza- tion is represented by the use of robotics. The entrance of Robots in the history of welding is recent, though their spread and development are rapid. Keywords: welding, robot, sensor, security, danger. 1. Introduction The idea of robots or automated machines has a long history. Ancient Greek texts talk about Talos, the gigantic brass automaton (Figure 1.), protecting crete and Europe from pirates and invaders by walking three times around the island daily and throwing boulders at the approaching ships [1]. The ancient pieces (77–100 bc.) of a mechanical calculator, found under the sea, also prove hu- mans have long been able to construct automat- ic machines. -
Nyku: a Social Robot for Children with Autism Spectrum Disorders
University of Denver Digital Commons @ DU Electronic Theses and Dissertations Graduate Studies 2020 Nyku: A Social Robot for Children With Autism Spectrum Disorders Dan Stephan Stoianovici University of Denver Follow this and additional works at: https://digitalcommons.du.edu/etd Part of the Disability Studies Commons, Electrical and Computer Engineering Commons, and the Robotics Commons Recommended Citation Stoianovici, Dan Stephan, "Nyku: A Social Robot for Children With Autism Spectrum Disorders" (2020). Electronic Theses and Dissertations. 1843. https://digitalcommons.du.edu/etd/1843 This Thesis is brought to you for free and open access by the Graduate Studies at Digital Commons @ DU. It has been accepted for inclusion in Electronic Theses and Dissertations by an authorized administrator of Digital Commons @ DU. For more information, please contact [email protected],[email protected]. Nyku : A Social Robot for Children with Autism Spectrum Disorders A Thesis Presented to the Faculty of the Daniel Felix Ritchie School of Engineering and Computer Science University of Denver In Partial Fulfillment of the Requirements for the Degree Master of Science by Dan Stoianovici August 2020 Advisor: Dr. Mohammad H. Mahoor c Copyright by Dan Stoianovici 2020 All Rights Reserved Author: Dan Stoianovici Title: Nyku: A Social Robot for Children with Autism Spectrum Disorders Advisor: Dr. Mohammad H. Mahoor Degree Date: August 2020 Abstract The continued growth of Autism Spectrum Disorders (ASD) around the world has spurred a growth in new therapeutic methods to increase the positive outcomes of an ASD diagnosis. It has been agreed that the early detection and intervention of ASD disorders leads to greatly increased positive outcomes for individuals living with the disorders.