Shaft Insertion for Moving Object Using Robot Manipulator with Cross PSD and Vibration End-effector

2001 ◽  
Vol 13 (5) ◽  
pp. 450-457 ◽  
Author(s):  
Soichiro Hayakawa ◽  
◽  
Nuio Tsuchida
Keyword(s):  
Error Correction ◽  
High Speed ◽  
Robot Manipulator ◽  
Position Error ◽  
Moving Object ◽  
Position Sensor ◽  
Robot System ◽  
Correct Position ◽  
End Effector ◽  
Vibration Mechanism

We have studied the position sensor with the high speed and precision sensing using a cross PSD. We developed shaft insertion robot for a moving object applying this sensor. For various reasons, position error that can not be avoided between the center of shaft and the center of the sensor occurred. We developed the vibration end-effector to correct this position error. The new end-effector has a vibration mechanism that gives spiral vibration to the shaft, and leads the shaft to a correct position semiactively if shaft insertion fails. This paper shows the improvement of the ability of position error correction by the vibration end-effector for a still object. Using the robot system with this new end-effector, we experimented on shaft insertion for a moving object in various situations. The robot could insert the shaft with a clearance of 50μm at a speed of 80mm/s. The moving velocity of the target doubled compared with our previous system, and the clearance became half.

Error Modelling for Master Slave Surgical Robot System

2011 ◽  
Vol 697-698 ◽  
pp. 795-798
Author(s):  
Jian Ye Zhang ◽  
Chen Zhao ◽  
Da Wei Zhang
Keyword(s):  
Computer Program ◽  
Cross Section ◽  
Robot Manipulator ◽  
Surgical Robot ◽  
Accuracy Analysis ◽  
Robot System ◽  
End Effector ◽  
Surface Graph ◽  
Position And Orientation ◽  
Kinematics Parameters

The Position and orientation accuracy of robot manipulator has long become a major issue to be considered in its advanced application. A linear error model that described the end-effector position and orientation errors of the master salve surgical robot system due to kinematics parameters errors has been presented. A computer program to perform the accuracy analysis has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a master-slave surgical robot system. The position error in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

Robot Manipulator Vibration Resistance Control Based on Physical Model

2020 ◽  
Author(s):  
Ting-Sheng Chen ◽  
Jen-Yuan (James) Chang
Keyword(s):  
Control Method ◽  
Robot Manipulator ◽  
Path Following ◽  
Position Error ◽  
Machining Accuracy ◽  
Robot Arm ◽  
End Effector ◽  
Vibration Resistance ◽  
Mass Spring ◽  
Accuracy And Repeatability

Abstract The overwhelming manufacturing process with robotic arm has replaced human labors in handling and manufacturing work-pieces in factories. In these years, higher accuracy and repeatability are required for robotic manipulators to perform processes such as welding, deburring and grinding in factories. In these path-following processes, the manipulator’s end-effector often encounter position error caused by its vibrating structures. Therefore, the quality of machining accuracy and surface roughness becomes unstable and unsatisfied. For the purpose of avoiding the vibrations to occur in the robotic manipulator, this study aims to design a control method to reduce vibrations which is divided into two parts, namely (1) dynamic modeling the robot arm by applying modified mass-spring-damper model to each joints and links of the robot arm, and (2) realizing the control of the robot arm’s vibration resistance with predicated dynamics to compensate for the undesired dynamics, respectively. Through the proposed model, the response of each joints in different postures and different payloads applied at the end effector can be fully analyzed and the vibrations can be predicted and compensated. Results with the proposed vibration resistance control method indicate improvement of the model robot arm’s dynamic position error.

Invisible Odor Trace Tracking with LSPR based High Speed Gas Sensor Robot System

2019 ◽  
Author(s):  
Yasuhiro Kusuda ◽  
Zhongyuan Yang ◽  
Takaaki Soeda ◽  
Fumihiro Sassa ◽  
Kenshi Hayashi
Keyword(s):  
Gas Sensor ◽  
High Speed ◽  
Robot System

Adaptive motion selection for online hand–eye calibration

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 529-536
Author(s):  
Jing Zhang ◽  
Fanhuai Shi ◽  
Yuncai Liu
Keyword(s):  
Motion Planning ◽  
Dynamic Threshold ◽  
Selection Algorithm ◽  
Robot System ◽  
End Effector ◽  
Threshold Determination ◽  
Robot Gripper ◽  
Adaptive Motion ◽  
Selection For ◽  
Relative Pose

SUMMARYWhile a robot moves, online hand–eye calibration to determine the relative pose between the robot gripper/end-effector and the sensors mounted on it is very important in a vision-guided robot system. During online hand–eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand–eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand–eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.

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