Manipulator Control in Collaborative Assembly
Manipulator Control in Collaborative Assembly

Author: Mark Lewis Jennings

Publisher:

Published: 2021

Total Pages: 0

ISBN-13:

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Remote operation of nuclear processes started with electromechanical telemanipulation over 60 years ago. Today, robotic manipulation is essential to several steps of the nuclear fuel cycle, decontamination and decommissioning operations, and many other related industries. However, not all tasks can be accomplished with a fully remote system. This research focuses on the control of a robotic manipulator in direct contact with human operators to improve the safety and throughput of a precision assembly task. Humans are naturally talented at precise force modulation, using tactile feedback and intuition to assemble complex and fragile parts. Robots, on the other hand, outrank humans in positional precision and strength, especially over long periods. By using a robotic system to offload the weight and reduce the inertia of an object, a human can focus on interaction forces and complex maneuvers to better complete precision assembly and insertion tasks. To investigate the validity of this claim, a custom admittance controller was applied to a passively-balanced collaborative robotic manipulator. Experimental results were collected in a blind precision insertion task with a heavy payload and fragile insertion member. In this pilot study, operator performance was assessed with the manipulator in both active and passive states, a passive mechanical gantry with counterweight for gravity compensation, and no assisting mechanisms. Experimental results indicate improvement in success rates, operation times, and physical effort

Robot Programming by Demonstration
Robot Programming by Demonstration

Author: Sylvain Calinon

Publisher: EPFL Press

Published: 2009-08-24

Total Pages: 248

ISBN-13: 9781439808672

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Recent advances in RbD have identified a number of key issues for ensuring a generic approach to the transfer of skills across various agents and contexts. This book focuses on the two generic questions of what to imitate and how to imitate and proposes active teaching methods.

Planning and Control for Multi-robot Manipulation and Assembly in Unstructured Environments
Planning and Control for Multi-robot Manipulation and Assembly in Unstructured Environments

Author: Preston Davis Culbertson

Publisher:

Published: 2022

Total Pages: 0

ISBN-13:

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While humans and other social animals (such as ants) can easily form teams to move heavy or bulky objects, robots struggle in collaborative manipulation tasks, especially under partial information about the environment or the object being transported. This thesis looks to enable flexible, scalable coordination in robot teams, looking toward a future where robots not only move objects together, but also work together to perform autonomous assembly of structures and manufactured goods. In Part I of this thesis, we investigate methods for collaborative manipulation and grasp synthesis under considerable uncertainty about the object's size and physical properties. Using tools from nonlinear control, we present a novel decentralized adaptive controller for collaborative manipulation that allows a team of robots to asymptotically track a desired trajectory in SE$(3)$. We also study the problem of synthesizing robust grasps of objects using only RGB images; we present a method which leverages a novel learned object representation to generate risk-sensitive grasps which can reason about the ambiguity inherent in the object shape. In Part II of this thesis, we turn our attention to the problem of multi-robot assembly planning. We show this problem can be posed as a mixed-integer linear program, which can be solved to global optimality using commercial solvers, and present effective heuristic strategies which can be computed quickly. Further, we present a method that uses supervised learning to accelerate the online solution of general mixed-integer convex programs using offline data. We show our method provides significant speedups over commercial solvers in a variety of robotics problems, including grasp selection and task allocation.

Dynamics and Control of Robotic Manipulators with Contact and Friction
Dynamics and Control of Robotic Manipulators with Contact and Friction

Author: Shiping Liu

Publisher: John Wiley & Sons

Published: 2018-11-15

Total Pages: 272

ISBN-13: 1119422507

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A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

Trends in Control and Decision-Making for Human–Robot Collaboration Systems
Trends in Control and Decision-Making for Human–Robot Collaboration Systems

Author: Yue Wang

Publisher: Springer

Published: 2017-01-24

Total Pages: 424

ISBN-13: 3319405330

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This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human collaboration being necessary for the optimal operation of any robotic system, the contributors exploit a broad selection of such systems to demonstrate the importance of the subject, particularly where the environment is prone to uncertainty or complexity. They show how such human strengths as high-level decision-making, flexibility, and dexterity can be combined with robotic precision, and ability to perform task repetitively or in a dangerous environment. The book focuses on quantitative methods and control design for guaranteed robot performance and balanced human experience from both physical human-robot interaction and social human-robot interaction. Its contributions develop and expand upon material presented at various international conferences. They are organized into three parts covering: one-human–one-robot collaboration; one-human–multiple-robot collaboration; and human–swarm collaboration. Individual topic areas include resource optimization (human and robotic), safety in collaboration, human trust in robot and decision-making when collaborating with robots, abstraction of swarm systems to make them suitable for human control, modeling and control of internal force interactions for collaborative manipulation, and the sharing of control between human and automated systems, etc. Control and decision-making algorithms feature prominently in the text, importantly within the context of human factors and the constraints they impose. Applications such as assistive technology, driverless vehicles, cooperative mobile robots, manufacturing robots and swarm robots are considered. Illustrative figures and tables are provided throughout the book. Researchers and students working in controls, and the interaction of humans and robots will learn new methods for human–robot collaboration from this book and will find the cutting edge of the subject described in depth.

Learning for Adaptive and Reactive Robot Control
Learning for Adaptive and Reactive Robot Control

Author: Aude Billard

Publisher: MIT Press

Published: 2022-02-08

Total Pages: 425

ISBN-13: 0262367017

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Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation

Author: Richard M. Murray

Publisher: CRC Press

Published: 2017-12-14

Total Pages: 503

ISBN-13: 1351469797

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A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

Guidance and Control of a Planar Robot Manipulator Used in an Assembly Line
Guidance and Control of a Planar Robot Manipulator Used in an Assembly Line

Author: B√olent √ñzkan

Publisher:

Published: 2019

Total Pages: 0

ISBN-13:

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In order to achieve higher productivity and lower cost requirements, robot manipulators have been enrolled in assembling processes in last decades as well as other implementation areas such as transportation, welding, mounting, and quality control. As a new application of this field, the control of the synchronous movements of a planar robot manipulator and moving belt is dealt with in this study. Here, the mentioned synchronization is tried to be maintained in accordance with a guidance law which leads the robot manipulator to put selected components onto the specific slots on the moving belt without interrupting the assembling process. In this scheme, the control of the manipulator is carried out by considering the PI (proportional plus integral) control law. Having performed the relevant computer simulations based on the engagement geometry between the robot manipulator and moving belt, it is verified that the mentioned pick-and-place task can be successfully accomplished under different operating conditions.

Advanced Studies Of Flexible Robotic Manipulators: Modeling, Design, Control And Applications
Advanced Studies Of Flexible Robotic Manipulators: Modeling, Design, Control And Applications

Author: Yanqing Gao

Publisher: World Scientific

Published: 2003-08-14

Total Pages: 457

ISBN-13: 9814485845

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Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators.

Robotic Systems for Handling and Assembly
Robotic Systems for Handling and Assembly

Author: Daniel Schütz

Publisher: Springer

Published: 2010-11-30

Total Pages: 463

ISBN-13: 3642167853

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Although parallel robots are known to offer many advantages with respect to accuracy, dynamics, and stiffness, major breakthroughs in industrial applications have not yet taken place. This is due to a knowledge gap preventing fast and precise execution of industrial handling and assembly tasks. This book focuses on the design, modeling, and control of innovative parallel structures as well as the integration of novel machine elements. Special attention is paid to the integration of active components into lightweight links and passive joints. In addition, new control concepts are introduced to minimize structural vibrations. Although the optimization of robot systems itself allows a reduction of cycle times, these can be further decreased by improved path planning, robot programming, and automated assembly planning concepts described by 25 contributions within this book. The content of this volume is subdivided into four main parts dealing with Modeling and Design, System Implementation, Control and Programming as well as Adaptronics and Components. This book is aimed at researchers and postgraduates working in the field of parallel robots as well as practicing engineers dealing with industrial robot development and robotic applications.