However, the main drawback is the slow performance as it takes 30â150 seconds .... gories of clothing (towel, pants, short-sleeved shirt and long- sleeved shirt).
Abstractâ This paper presents the design of the robot AILA, a mobile dual-arm robot system developed as a research platform for investigating aspects of the ...
Keywords: Load transportation; Dual arm robot; Sliding mode control .... The system has four degrees of freedom (DoF). ...... M.S. degrees from the Department of.
[3] to pose the robot base for constrained linear task paths. ... solve the base placement problem using a reachability map, .... return all found base poses.
4.3 Identification of the cube's state . .... the above capabilities, but the last one â we do not have a mobile platform .... All tasks use the same EDP position-force controller and .... Once the impact is detected the vertical motion stops only
With our developed experimental system, for T-shirt clothing assistance, including an anthropomorphic dual-arm robot and a soft mannequin, we demonstrate ...
end-effector closed-loop servos (ECL) â here the end-effector is perceived by the imaging system, ...... A tutorial on visual servo control. IEEE Tran. Robotics and ...
Alle rechten voorbehouden. Niets uit deze uitgave mag .... afhankelijk van de relatieve pose tussen camera en projector, gebaseerd op de theorie van perfect maps. ...... would have to rely on absolute intensity values. As a solution, dots can ...
Jun 18, 2012 - [12] J. Taylor and D. Seward, âControl of a dualarm robotic manipulator,â. Nuclear Engineering International, vol. 55, no. 673, pp. 24â26, 2010.
Jun 18, 2012 - aCentre for Autonomous Systems, School of Computer Science and Communication, Royal. Institute of .... dual arm systems occupy less space and have lower cost, as compared to two single arm units .... Samsung. AM1 fixed.
Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, ... The paper presents path planning of dual arm free flying space robot using smooth ...... [10] B. Siciliano and O. Khatib, Springer Handbook of Robotics,.
nipulators installed on a free-flying space robot. Firstly ... dual arm coordination is considerd to be effective. ... proper motion control of free-flying manipulators, is.
Common reachability maps with different shoulder distance. TABLE II. THE EFFECTIVE COMMON AREA OF THE DUAL ARM ROBOTS WITH. DIFFERENT ...
Dec 4, 2011 - The main targets in designing control systems are stability, good ...... J. J. D'Azzo, et al., Linear control system analysis and design with ...
Dec 4, 2011 - Most of industrial robots are serial links, which in serial robot manipulator the .... This method is free of some model-based techniques as in ..... References. [1] T. R. Kurfess, Robotics and automation handbook: CRC, (2005).
Feb 16, 2007 - designed stopping criterion incorporated in the control strategy. ..... base the design of the stopping criterion on the sum-squared track error ...
simultaneously, both homogeneous transformations (4x4) matrices and Dual ..... Using Cramer's method or any other techniques the solution to this equation ...
tal evidence to show that optimized reachability expressions give rise to significant ... state predicate using our BDD-based NuSMVDP tool can vary significantly.
This paper proposes a new method to make an obstacle avoiding robot which ..... caught place and implemented in the design of a fire fighting robot. Moreover ...
the Cassiopeia method [Collinot et al., 1995, 1996), the purpose of which is to ..... The position message (corresponding to d1, d4): The defenders influence each.
implement Additive Manufacturing; examples are CNC 3D ... The objective of our project and this document that ... (PWM) trough Arduino or through Drivers.
Abstract: The paper describes a map building module, where the image sequences of the .... 3) its center region around the optical axis does not take part in the forming of the .... 2) Call λmax the maximum value of λ over the whole image.
Workshop I xPC Target fast prototyping software. The program is executed by xPC operating software on the personal computer (PC), which has all the ...
with numbers, for example the immovable base part of the manipulator is
numbered 0, .... Of course, if you are looking down an axis and want to spin it, you
need.
Abstract. In this paper, we present an approach to design a dual-arm robot that purposes to meet the need of automation for low batch for but a various type of ...
Using Reachability Map to Design a Dual Arm Robot for Precision Assembly Abstract In this paper, we present an approach to design a dual-arm robot that purposes to meet the need of automation for low batch for but a various type of production lines. The kinematic feature and reachability map of a 7 degree-of-freedom (DOF) industrial robot are introduced. The bimanual workspace of the dual-arm robot is analyzed by adjusting the distance and angle between the two identical robot arms (left and right arm). We also proposed a cooperative reachability map as a criteria to evaluate the design of the dual-arm for the assembling tasks.
Figure and Table:
Figure 1. Process of computing Reachability Map.
Figure 2. Visualization of the reachability map for robot arm PMC 22. For better visualization, the map is cut in half.
TABLE I DENAVIT-HARTENBERG PARAMETERS FOR ROBOT ARM - PMC22. αi-1 i ai-1 di θi Upper Lower 1 2 3 4 5 6 7
0 0 0 0 0 0 0
0 -90 90 -90 -90 90 -90
0.407 0 0.304 0 0.353 0 0.077
0 0 0 -180 180 0 0
180 115 180 -55 360 100 190
-180 -114 -180 -297 0 -100 -190
Figure 3. Common reachability maps with the different angles between the robot arms and the robot body.
Figure 4. Cooperative reachability map vs. Common reachability map.
Figure 5. PMC 14-axis dual-arm robot. The configuration of two arms is according to the result of our analysis. This robot was exhibited in the 2014 “Taiwan Automation Intelligence and Robot Show” (TIROS), which is the premier robotics convention in Taiwan.
