A multiple working mode approach to robotic hammering: Analysis and experiments

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Vladyslav Romanyuk ◽  
Sina Soleymanpour ◽  
Guangjun Liu
Keyword(s):  
Limited Range ◽  
Service Robots ◽  
Mode Switching ◽  
Friction Compensation ◽  
Robot Arm ◽  
Free Rotation ◽  
Passive Mode ◽  
Space Robots ◽  
Reconfigurable Robot ◽  
Analytic Models

Abstract A robot arm may be in need for performing various operations, especially for service robots and space robots. This paper presents a strategy that allows a modular and reconfigurable robot to safely perform nail hammering without hardware enhancements. The purpose is to equip a versatile robot arm with hammering capability that can be used if needed. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses and serve as criteria for mode switching. Advantages of the proposed approach include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study has validated analytic models of hammering and demonstrated the effectiveness of the proposed approach.

scholarly journals A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

2021 ◽  
Author(s):  
Vladyslav Romanyuk
Keyword(s):  
Experimental Study ◽  
Effective Mass ◽  
Limited Range ◽  
Mode Switching ◽  
Friction Compensation ◽  
Free Rotation ◽  
Passive Mode ◽  
Impulsive Forces ◽  
Reconfigurable Robot ◽  
Analytic Models

Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach.

scholarly journals A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

2021 ◽  
Author(s):  
Vladyslav Romanyuk
Keyword(s):  
Experimental Study ◽  
Effective Mass ◽  
Limited Range ◽  
Mode Switching ◽  
Friction Compensation ◽  
Free Rotation ◽  
Passive Mode ◽  
Impulsive Forces ◽  
Reconfigurable Robot ◽  
Analytic Models

Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach.

scholarly journals Development of modular and reconfigurable robot with multiple working modes

2021 ◽  
Author(s):  
Xiaojia He
Keyword(s):  
Force Control ◽  
Jacobian Matrix ◽  
Friction Compensation ◽  
Force Analysis ◽  
Passive Mode ◽  
Door Opening ◽  
Spherical Wrist ◽  
Reconfigurable Robot ◽  
The Common

A modular and reconfigurable robot (MRR) with multiple working modes for performing manipulation in uncontrolled environments is developed in this thesis. In the proposed MRR design, each joint module can independently work in active mode or passive mode. Major contributions of this thesis include the development of the passive mode with a unique friction compensation method and the use of force control in manipulation, such as door opening. In order to implement force control, the kinematics model and Jacobian matrix of the manipulator are derived by using the twist and wrench method, which is superior to the common D-H method, and the complete force analysis of the spherical wrist is presented as well. As a case study, the door opening process using force control is investigated by simulation and experiments. Door opening is successfully demonstrated using the developed MRR with multiple working modes.

scholarly journals Development of modular and reconfigurable robot with multiple working modes

2021 ◽  
Author(s):  
Xiaojia He
Keyword(s):  
Force Control ◽  
Jacobian Matrix ◽  
Friction Compensation ◽  
Force Analysis ◽  
Passive Mode ◽  
Door Opening ◽  
Spherical Wrist ◽  
Reconfigurable Robot ◽  
The Common

A modular and reconfigurable robot (MRR) with multiple working modes for performing manipulation in uncontrolled environments is developed in this thesis. In the proposed MRR design, each joint module can independently work in active mode or passive mode. Major contributions of this thesis include the development of the passive mode with a unique friction compensation method and the use of force control in manipulation, such as door opening. In order to implement force control, the kinematics model and Jacobian matrix of the manipulator are derived by using the twist and wrench method, which is superior to the common D-H method, and the complete force analysis of the spherical wrist is presented as well. As a case study, the door opening process using force control is investigated by simulation and experiments. Door opening is successfully demonstrated using the developed MRR with multiple working modes.

scholarly journals Safe Joint Mechanism using torsion springs for Collision Safety and Positioning Accuracy of a Robot Arm

2020 ◽  
Author(s):  
Adel Belharet ◽  
Jae-Bok Song
Keyword(s):  
Service Robots ◽  
Robot Arm ◽  
Positioning Accuracy ◽  
External Torque ◽  
High Stiffness ◽  
Collision Safety ◽  
Passive Compliance ◽  
Joint Mechanism ◽  
Mechanical Elements ◽  
Torsion Springs

In recent years, the potential for collision between humans and robots has drawn much attention since service robots are increasingly being used in the human environment. A safe robot arm can be achieved using either an active or passive compliance method. A passive compliance system composed of purely mechanical elements often provides faster and more reliable responses to dynamic collision than an active system involving sensors and actuators. Since positioning accuracy and collision safety of a robot arm are equally important, a robot arm should have very low stiffness when subjected to a collision force capable of causing human injury. Otherwise, it should maintain a very high stiffness. To implement these requirements, a novel safe joint mechanism (SJM-IV) consisting of a CAM, rotational links with rollers, and torsion springs is proposed. The SJM-IV has the advantage of nonlinear stiffness, which can be achieved only with passive mechanical elements. Various analyses and experiments on static and dynamic collisions show high stiffness of the SJM-IV against an external torque less than a predetermined threshold torque, with an abrupt drop in stiffness when the external torque exceeds this threshold. The safe joint mechanism enables a robot manipulator to guarantee positioning accuracy and collision safety, and which is simple to install between an actuator and a robot link without a significant change in the robot’s design.

Self-Calibration of Eye-to-Hand and Workspace for Mobile Service Robot

2012 ◽  
pp. 229-246
Author(s):  
Jwu-Sheng Hu ◽  
Yung-Jung Chang
Keyword(s):  
Visual Information ◽  
Calibration Method ◽  
Industrial Robots ◽  
Service Robots ◽  
Service Robot ◽  
Mobile Service ◽  
Robot Arm ◽  
Self Calibration ◽  
Laser Distance Sensor ◽  
Distance Sensor

The geometrical relationships among robot arm, camera, and workspace are important to carry out visual servo tasks. For industrial robots, the relationships are usually fixed and well calibrated by experienced operators. However, for service robots, particularly in mobile applications, the relationships might be changed. For example, when a mobile robot attempts to use the visual information from environmental cameras to perform grasping, it is necessary to know the relationships before taking actions. Moreover, the calibration should be done automatically. This chapter proposes a self-calibration method using a laser distance sensor mounted on the robot arm. The advantage of the method, as compared with pattern-based one, is that the workspace coordinate is also obtained at the same time using the projected laser spot. Further, it is not necessary for the robot arm to enter the view scope of the camera for calibration. This increases the safety when the workspace is unknown initially.

Generic Technology of Home Service Robot

2011 ◽  
Vol 121-126 ◽  
pp. 3330-3334
Author(s):  
Zhong Hai Yu
Keyword(s):  
Modular Design ◽  
Service Robots ◽  
Service Robot ◽  
Home Nursing ◽  
Paper Briefly ◽  
Home Service Robot ◽  
Home Service ◽  
Reconfigurable Robot ◽  
Research Situation ◽  
Technology Standardization

The paper briefly looks back on current research situation of home service robots. It takes a home nursing robot as example to study and discuss some key generic technologies of home service robots. It generally overviewed robot’s mobile platform technology, modular design, reconfigurable robot technique, motion control, sensor technologies, indoor robot’s navigation and localization technology indoor, intelligentization, and robot’s technology standardization. Some the measures of technology standardization of home service robots have been put forward. It has realistic signification for industrialization of home service robots.

Study on Variable Structure Vibration Control for Flexible Manipulator

2014 ◽  
Vol 875-877 ◽  
pp. 1961-1966
Author(s):  
Hui Jin Mu
Keyword(s):  
Variable Structure ◽  
Flexible Manipulator ◽  
Robot Arm ◽  
Dynamics Modeling ◽  
Space Robots ◽  
Modeling And Control ◽  
Depth Study ◽  
Operating Space ◽  
And Control ◽  
Dual Arm

In recent years, modeling and control of flexible space robots are extensively researched. Compared with traditional rigid robots, flexible robots have low energy consumption, wide operating space, high carrying capacity and other characteristics. However, due to its special structure, the robot arm will get deformation and vibration in motion, which brings a lot of problems to the positioning and tracking control of flexible space robots. Therefore, directing at the dynamics modeling and control issues of the free-floating flexible dual-arm space robots, this article carries out in-depth study. This paper first studies the elastic deformation and vibration of the flexible space manipulator and the robust control problem of the system trajectory tracking for free-floating flexible dual-arm space robots.

scholarly journals Fiscal Policy Reaction Function and Sustainability of Fiscal Policy in Ukraine

2017 ◽  
pp. 22-35 ◽  
Author(s):  
Artem Vdovychenko
Keyword(s):  
Fiscal Policy ◽  
Smooth Transition ◽  
Mode Switching ◽  
Output Gap ◽  
Reaction Function ◽  
Passive Mode ◽  
Switching Regimes ◽  
Sustainability Of Fiscal Policy ◽  
High Output ◽  
Policy Reaction Function

This study analyzes the fiscal policy reaction function with switching regimes. We use Logistic Smooth Transition Regressions (LSTR) to show that fiscal policy in Ukraine during the study period remained largely in passive mode, switching to active mode during periods of a high output gap and elevated debt-to-GDP ratio. An important finding is that the fiscal policy reaction function is nonlinear. Specifically, the response of fiscal policy to the output gap is asymmetric: fiscal policy is pro-cyclical during periods of economic growth but neutral in recession.

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