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Article
Publication date: 8 March 2011

Jun Zhou and Yueqing Yu

The purpose of this paper is to present a novel and accurate coordination control method of dual‐arm modular robot based on position feedback using 3D motion measurement…

Abstract

Purpose

The purpose of this paper is to present a novel and accurate coordination control method of dual‐arm modular robot based on position feedback using 3D motion measurement system – Optotrak3020. The end‐position accuracy of dual‐arm modular robot can be improved obviously.

Design/methodology/approach

By means of Optotrak3020, the actual end‐position of dual‐arm modular robot is acquired and then returned to the robotic controllers, so the corresponding position error compensation is implemented. Through a 3D simulation and experiment of dual‐arm modular robot for tracking a trajectory of plane right triangle, the feasibility and validity of this control strategy are verified.

Findings

The coordination control of dual‐arm modular robot based on position feedback can be accomplished by means of Optotrak3020. The dual‐arm modular robot can accurately accomplish the task of positioning or tracking a reference trajectory.

Practical implications

This real‐time position feedback control method with high control accuracy can be implemented on a PowerCube dual‐arm modular robot system. This method also can be applied to other dual‐arm robot systems, such as mobile robot with dual‐arm, humanoid robot.

Originality/value

The coordination control method of dual‐arm modular robot is presented based on end‐position feedback using Optotrak3020 motion measurement system. The platforms of simulation, communication and experiment are developed, respectively.

Details

Industrial Robot: An International Journal, vol. 38 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 20 January 2020

Yanjiang Huang, Yanglong Zheng, Nianfeng Wang, Jun Ota and Xianmin Zhang

The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task.

Abstract

Purpose

The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task.

Design/methodology/approach

The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage.

Findings

The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece.

Originality/value

The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.

Details

Assembly Automation, vol. 40 no. 2
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 28 April 2020

Yu Yan, Wei Jiang, Dehua Zou, Wusheng Quan, Hong Jun Li, YunFei Lei and Zhan fan Zhou

In the long-term network operation, the power distribution network will be subjected to the effects of ultra-high voltage, strong electromagnetic interference and harsh…

132

Abstract

Purpose

In the long-term network operation, the power distribution network will be subjected to the effects of ultra-high voltage, strong electromagnetic interference and harsh natural environment on the power system, which will lead to the occurrence of different faults in the distribution network and directly affect the normal operation of the power grid.

Design/methodology/approach

The purpose of this study is to solve the problems of labor intensity, high risk and low efficiency of distribution network manual maintenance operation, this paper proposed a new configuration of the live working robot for distribution network maintenance, the robot is equipped with dual working arms through the mobile platform, which can realize the coordination movement, the autonomous reorganization and replacement of the end tools, respectively, so as the robot power distribution maintenance function such as stripping, trimming, wiring and the operation control problem of the distribution network-robot with small arms and in small operation space can be realized.

Findings

To effective elimination or reduce the adverse effects of the internal forces in the closed chain between the working object and manipulator under the typical task of the 10 kV distribution network, this paper has established the robot coordinated control dynamics model in the closed-chain between the dual-working object and proposed the dynamic distribution method of closed-chain internal force and the effectiveness has been proved by simulation experiments and 10 kV field operation.

Originality/value

The force-position hybrid control can realize the mutual compensation of force and position so as to effectively reduce the internal force in the closed chain. Finally, the engineering practicality of the method is verified by field operation experiment, the effective implementation of this control method greatly improves the robot working efficiency and the operation reliability, the promotion and application of the control method have great theoretical and practical value and maintenance management system, so as to achieve automation of electric.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 9 October 2018

Fuhai Zhang, Jiadi Qu, He Liu and Yili Fu

This paper aims to develop a pose/force coordination method for a redundant dual-arm robot to achieve a symmetric coordination task.

Abstract

Purpose

This paper aims to develop a pose/force coordination method for a redundant dual-arm robot to achieve a symmetric coordination task.

Design/methodology/approach

A novel control strategy of dual-arm coordination is proposed that associates pose coordination with force coordination. The spatial in-parallel spring and damping model is built to regulate the relative pose error of two end-effectors in real time, and force coordination factor is introduced to realize the dynamic distribution of loadings to limit the object’s internal force in real time.

Findings

The proposed method was verified on a real dual-arm robot platform. The symmetric coordination task is performed and the experiment results show that a good behavior on the regulation of the relative pose errors between two arms to achieve the object’s trajectory tracking, and the distribution of the two end-effectors’ loadings to limit the object’s internal force.

Originality/value

The benefits of the proposed method are to improve the object’s tracking performance and avoid the object damage during the symmetric coordination task.

Details

Assembly Automation, vol. 38 no. 5
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 21 August 2009

Christine Connolly

The purpose of this paper is to examine the advantages of two‐arm robots in the industrial environment.

Abstract

Purpose

The purpose of this paper is to examine the advantages of two‐arm robots in the industrial environment.

Design/methodology/approach

The innovative thinking behind Motoman's dual arm humanoid robot is presented. Then, its technical design and its industrial applications are studied. The general advantages of co‐ordinating multiple robot arms are given.

Findings

Motoman has designed a two‐arm robot of human size to take over industrial tasks still performed manually, providing an alternative to the practice of outsourcing such operations to low‐cost labour countries. However, its variance from traditional robot design means that its applications are not immediately apparent, and sales so far have been mostly in Japan. The NX100 multiple robot controller allows high‐density layouts and reduced cycle times, and makes programming simpler than for a cluster of individually controlled robots.

Originality/value

Humanoid robots tend to attract hobbyists rather than industrial users. This paper concentrates on a commercially available dual‐arm robot series and its industrial potential.

Details

Industrial Robot: An International Journal, vol. 36 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 31 July 2021

Shifa Sulaiman and A.P. Sudheer

Most of the redundant dual-arm robots are singular free, dexterous and collision free compared to other robotic arms. This paper aims to analyse the workspace of redundant…

Abstract

Purpose

Most of the redundant dual-arm robots are singular free, dexterous and collision free compared to other robotic arms. This paper aims to analyse the workspace of redundant arms to study the manipulability. Furthermore, multi-layer perceptron (MLP) algorithm is used to determine the various joint parameters of both the upper body redundant arms. Trajectory planning of robotic arms is carried out with the help of inverse solutions obtained from the MLP algorithm.

Design/methodology/approach

In this paper, the kinematic equations are derived from screw theory approach and inverse kinematic solutions are determined using MLP algorithm. Levenberg–Marquardt (LM) and Bayesian regulation (BR) techniques are used as the backpropagation algorithms. The results from two backpropagation techniques are compared for determining the prediction accuracy. The inverse solutions obtained from the MLP algorithm are then used to optimize the cubic spline trajectories planned for avoiding collision between arms with the help of convex optimization technique. The dexterity of the redundant arms is analysed with the help of Cartesian workspace of arms.

Findings

Dexterity of redundant arms is analysed by studying the voids and singular spaces present inside the workspace of arms. MLP algorithms determine unique solutions with less computational effort using BR backpropagation. The inverse solutions obtained from MLP algorithm effectively optimize the cubic spline trajectory for the redundant dual arms using convex optimization technique.

Originality/value

Most of the MLP algorithms used for determining the inverse solutions are used with LM backpropagation technique. In this paper, BR technique is used as the backpropagation technique. BR technique converges fast with less computational time than LM method. The inverse solutions of arm joints for traversing optimized cubic spline trajectory using convex optimization technique are computed from the MLP algorithm.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 30 September 2020

Wei Jiang, Dehua Zou, Xiao Zhou, Gan Zuo, Gao Cheng Ye and Hong Jun Li

The purpose of this study is to solve the key technical problems of the practical application of electric robots. The UHV multi-split transmission line power cable…

Abstract

Purpose

The purpose of this study is to solve the key technical problems of the practical application of electric robots. The UHV multi-split transmission line power cable operation robot is an important equipment to ensure the reliable operation of high voltage lines and is a useful exploration to realize high-quality power transmission. As the robot system platform equipment mature and operation environment gradually become more complex, the double arm coordination motion control in extreme environment becomes one of the main bottleneck for its practical in power system.

Design/methodology/approach

This paper summarizes the key technologies related to power cable robots, and aims at key technical indicators such as operation reliability, operation efficiency and operation quality in the robot’s practical process. The dynamic evolution mechanism of the robot’s mechanical configuration, the multi-physics information fusion algorithm in extreme environments, the robot’s autonomous positioning and its error compensation control, the robot’s robust motion control in extreme environments and the dual-arm force-position hybrid coordination control and the dynamic distribution and elimination mechanism of internal forces in the closed chain between robots and operating objects, all the research methods and solutions of the key technologies are proposed, respectively.

Findings

Finally, a new control architecture for power cable robots in the background of the Ubiquitous Power Internet of Things is proposed so as to manage the operation and maintenance of electric power systems. The above key technologies are a new exploration of the operation and maintenance management of EHV (Extra High Voltage) multi-split transmission lines which have laid a solid theoretical foundation for the power cable robot.

Originality/value

High voltage transmission line is the main channel of power transmission. It is an important means to improve the integration of operation and maintenance management of power system to use robot instead of manual inspection and maintenance of power line, in the promotion and application of electric robot. The authors pay attention to the practicability, and the breakthrough of key technologies of robot is the premise of the practicability of robot. In this paper, the robot operation and control in multi-task and complex scenes are studied. The research and implementation of the main key technologies, such as the dynamic evolution mechanism of robot configuration, the coupling and fusion law of multi physical fields in the extreme electric power environment, the autonomous positioning control of manipulator, the robust control of robot in the super electromagnetic field environment and the cooperative operation control of multi manipulator, are discussed.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 2 August 2011

Ruhizan Liza Ahmad Shauri and Kenzo Nonami

The purpose of this paper is to propose an assembly robot that exhibits specific human‐like skills, with minimal structural cost and a number of external sensors.

1079

Abstract

Purpose

The purpose of this paper is to propose an assembly robot that exhibits specific human‐like skills, with minimal structural cost and a number of external sensors.

Design/methodology/approach

The authors have employed vision processing using multiple cameras to determine targets and postures and propose strategies to determine the pose of a target and to prevent collisions between the fingers and obstacles in an environment with mixed objects. Furthermore, a dynamic trajectory planner integrates the vision and force sensors of the robot hand for the assigned task.

Findings

The authors obtained satisfactory experimental results for autonomous real‐time grasping and screwing. The results verified the capability of the robot for handling small objects.

Research limitations/implications

More effective robotic manipulation requires a higher degree of target orientation data, which will be a future study of this research.

Practical implications

Practicality has been established through results, indicating the capability of the robot to implement human‐like skilled manipulation of small objects. This can potentially reduce the high labor cost associated with the small‐scale manufacture of custom‐made products.

Originality/value

Screwing of nuts of minimum M2 size (diameter, 4.6 mm) and M8‐M10 bolts (head diameter, 15‐19.6 mm; length, 50‐80 mm) by cooperating two seven‐link arm manipulators and three‐fingered hands shows the robot's capability to manipulate small objects.

Details

Assembly Automation, vol. 31 no. 3
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 27 August 2019

Wei Jiang, Yu Yan, Qiao Min Li, An Zhang, Hong Jun Li and Daogeng Jiang

The power cable maintenance robot is an important equipment to ensure the reliable operation of high-voltage transmission (HVT) lines and is a useful exploration to…

Abstract

Purpose

The power cable maintenance robot is an important equipment to ensure the reliable operation of high-voltage transmission (HVT) lines and is a useful exploration to achieve high-quality power transmission. In respond to a series of technical problems in the operation process, such as robot shaking, terminal positioning error, camera image blurred and visual servo control difficulty which caused by the influence of high altitude random wind load on the motion control of power maintenance robot. The purpose of this study is to minimizing the impact of wind loads on robot motion control on the high voltage transmission line, so as to obtain the sound motion performance.

Design/methodology/approach

This paper presents a robust stabilization control method for flexible wire power maintenance robot under wind load action, the coupling mathematical model between the flexible wire with the robot has been established, and the robot rolling model under wind load has also been established. According to the tilt sensor, the robot pendulum angle value can be obtained and fitted through sinusoidal function; the robot swing period and frequency under wind load action can be also obtained; the feedforward- and feedback-based robot closed-loop control system is also designed.

Findings

Through the online detection of wind load dection, so as to dynamic control the clamping force of the robot's dual-arm jaws, therefore, the robot robust stabilization control with different grades of wind load can be realized. Finally, the effectiveness and engineering practicability of the proposed algorithm are verified by simulation experiments and field operation experiments. Compared with the conventional proportional integral differential (PID) algorithm, this method can effectively suppress the influence of wind load on the robot robust stabilization motion control, and the robot posture detection operation control has been further optimized.

Originality/value

A robust stabilization control method for power robot under wind load is proposed. The coupling motion model of flexible HVT and robot is established. The mathematical relationship between the robot wind rolling angle and the wind force has been deduced, and the corresponding closed-loop control system with feedforward and feedback has also been designed. Through the design of robust stabilization control algorithm based on mixed sensitivity function, the effectiveness of the mixed sensitivity robust stabilization control algorithm is verified by simulation experiments in MATLAB environment. Compared with the traditional PID algorithm, this method can effectively suppress the influence of large-scale disturbance information represented by wind load on the robot motion control. The engineering practicability of the robot robust stabilization control algorithm is further verified by the robot live damper replacement operation under the field wind load, which further improves the robot operation efficiency and intelligence.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 3 May 2010

Yoshihiro Kusuda

The purpose of this paper is to review the International Robot Exhibition in Tokyo, Japan 2009, with emphasis on new trend of Japanese robot industry.

Abstract

Purpose

The purpose of this paper is to review the International Robot Exhibition in Tokyo, Japan 2009, with emphasis on new trend of Japanese robot industry.

Design/methodology/approach

This paper is based on in‐depth interviews with exhibitors and the reporter's insight in Japanese robot industry.

Findings

A big change is observed in the direction of the Japanese industrial robotics in an attempt to overcome the economic crisis.

Practical implications

New markets, new applications, new robot types, and new robot‐based production systems will be emerging.

Originality/value

This is the first report describing the “change” in the Japanese robot industry after the breakout of the world economy recession.

Details

Industrial Robot: An International Journal, vol. 37 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

1 – 10 of 179