Search results

1 – 10 of over 6000
Article
Publication date: 15 May 2017

Zhenyu Li, Bin Wang, Haitao Yang and Hong Liu

Rapid satellite capture by a free-floating space robot is a challenge problem because of no-fixed base and time-delay issues. This paper aims to present a modified target…

Abstract

Purpose

Rapid satellite capture by a free-floating space robot is a challenge problem because of no-fixed base and time-delay issues. This paper aims to present a modified target capturing control scheme for improving the control performance.

Design/methodology/approach

For handling such control problem including time delay, the modified scheme is achieved by adding a delay calibration algorithm into the visual servoing loop. To identify end-effector motions in real time, a motion predictor is developed by partly linearizing the space robot kinematics equation. By this approach, only ground-fixed robot kinematics are involved in the predicting computation excluding the complex space robot kinematics calculations. With the newly developed predictor, a delay compensator is designed to take error control into account. For determining the compensation parameters, the asymptotic stability condition of the proposed compensation algorithm is also presented.

Findings

The proposed method is conducted by a credible three-dimensional ground experimental system, and the experimental results illustrate the effectiveness of the proposed method.

Practical implications

Because the delayed camera signals are compensated with only ground-fixed robot kinematics, this proposed satellite capturing scheme is particularly suitable for commercial on-orbit services with cheaper on-board computers.

Originality/value

This paper is original as an attempt trying to compensate the time delay by taking both space robot motion predictions and compensation error control into consideration and is valuable for rapid and accurate satellite capture tasks.

Details

Industrial Robot: An International Journal, vol. 44 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 20 October 2014

Haitao Yang, Minghe Jin, Zongwu Xie, Kui Sun and Hong Liu

The purpose of this paper is to solve the ground verification and test method for space robot system capturing the target satellite based on visual servoing with…

Abstract

Purpose

The purpose of this paper is to solve the ground verification and test method for space robot system capturing the target satellite based on visual servoing with time-delay in 3-dimensional space prior to space robot being launched.

Design/methodology/approach

To implement the approaching and capturing task, a motion planning method for visual servoing the space manipulator to capture a moving target is presented. This is mainly used to solve the time-delay problem of the visual servoing control system and the motion uncertainty of the target satellite. To verify and test the feasibility and reliability of the method in three-dimensional (3D) operating space, a set of ground hardware-in-the-loop simulation verification systems is developed, which adopts the end-tip kinematics equivalence and dynamics simulation method.

Findings

The results of the ground hardware-in-the-loop simulation experiment validate the reliability of the eye-in-hand visual system in the 3D operating space and prove the validity of the visual servoing motion planning method with time-delay compensation. At the same time, owing to the dynamics simulator of the space robot added in the ground hardware-in-the-loop verification system, the base disturbance can be considered during the approaching and capturing procedure, which makes the ground verification system realistic and credible.

Originality/value

The ground verification experiment system includes the real controller of space manipulator, the eye-in-hand camera and the dynamics simulator, which can veritably simulate the capturing process based on the visual servoing in space and consider the effect of time delay and the free-floating base disturbance.

Details

Industrial Robot: An International Journal, vol. 41 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 14 January 2014

Yong Liu, Dingbing Shi and Steven Baard Skaar

Vision-based positioning without camera calibration, using uncalibrated industrial robots, is a challenging research problem. To address the issue, an uncalibrated…

Abstract

Purpose

Vision-based positioning without camera calibration, using uncalibrated industrial robots, is a challenging research problem. To address the issue, an uncalibrated industrial robot real-time positioning system has been developed in this paper. The paper aims to discuss these issues.

Design/methodology/approach

The software and hardware of this system as well as the methodology are described. Direct and inverse kinematics equations that map joint space into “camera space” are developed. The camera-space manipulation (CSM) algorithm has been employed and improved with varying weights on camera samples of the robot end effector, and the improved CSM is named VW-CSM. The experiments of robot positioning have been conducted using the traditional CSM algorithm and the varying-weight CSM (VW-CSM) algorithm, respectively, both without separate camera calibration. The impact on the accuracy and real-time performance of the system caused by different weights has been examined and discussed.

Findings

The experimental results show that the accuracy and real-time performance of the system with the VW-CSM algorithm is better than the one with using the original CSM algorithm, and the impact on the accuracy and real-time performance of the system caused by different weights has been revealed.

Originality/value

The accuracy and real-time performance of the system with the VW-CSM algorithm is verified. These results prove that the developed system using the VW-CSM algorithm can satisfy the requirements of most industrial applications and can be widely used in the field of industrial robots.

Details

Industrial Robot: An International Journal, vol. 41 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 15 June 2012

Robert Bogue

This paper aims to provide a technical description of the robots that have been deployed in space, primarily on the Moon and Mars.

1224

Abstract

Purpose

This paper aims to provide a technical description of the robots that have been deployed in space, primarily on the Moon and Mars.

Design/methodology/approach

Following an introduction, this paper describes the robotic devices that have been deployed on the Moon and Mars. It also considers the latest Mars robot mission, the humanoid robot recently deployed on the International Space Station and robotic developments for use during proposed future planetary missions. It concludes with a brief consideration of the impact of space robots on terrestrial robotic technology.

Findings

The paper shows that robots have been developed which can withstand the hostile environment of space. They have made a significant contribution to lunar and Martian science and some of the technology has had an impact on terrestrial robots.

Originality/value

This paper provides a technical insight into the robots that have operated on the surfaces of the Moon and Mars.

Details

Industrial Robot: An International Journal, vol. 39 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 15 July 2019

Nikola Lukic and Petar B. Petrovic

Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be…

Abstract

Purpose

Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote Center of Compliance – RCC), with additional properties of inherent flexibility.

Design/methodology/approach

Theoretical analysis and synthesis of the complementary projector for null-space stiffness control of kinematically redundant robot arm. Practical feasibility of the proposed approach was proven by extensive computer simulations and physical experiments, based on commercially available 7 DoF SIA 10 F Yaskawa articulated robot arm, equipped with the open-architecture control system, system for generating excitation force, dedicated sensory system for displacement measurement and a system for real-time acquisition of sensory data.

Findings

Simulation experiments demonstrated convergence and stability of the proposed complementary projector. Physical experiments demonstrated that the proposed complementary projector can be implemented on the commercially available anthropomorphic redundant arm upgraded with open-architecture control system and that this projector has the capacity to efficiently affect the task-space TCP stiffness of the robot arm, with a satisfactory degree of consistency with the behavior obtained in the simulation experiments.

Originality/value

A novel complementary projector was synthesized based on the adopted objective function. Practical verification was conducted using computer simulations and physical experiments. For the needs of physical experiments, an adequate open-architecture control system was developed and upgraded through the implementation of the proposed complementary projector and an adequate system for generating excitation and measuring displacement of the robot TCP. Experiments demonstrated that the proposed complementary projector for null-space stiffness control is capable of producing the task-space TCP stiffness, which can satisfy the essential requirements needed for a successful part-mating process, thus allowing the redundant robot arm to mimic the RCC supporting mechanism behavior in a programmable manner.

Details

Assembly Automation, vol. 39 no. 4
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 11 January 2011

Jun Zhou, Xilun Ding and Yu Yue Qing

The purpose of this paper is to present a novel automatic planning and coordinated control method of redundant dual‐arm space robot for inner space‐station operation based…

Abstract

Purpose

The purpose of this paper is to present a novel automatic planning and coordinated control method of redundant dual‐arm space robot for inner space‐station operation based on multiple sensors information by stages.

Design/methodology/approach

In order to improve the coordinated control capability of dual‐arm robot system, a four‐layer hierarchical control structure is designed based on the theory of centralization and decentralization. At the high‐level planning of dual‐arm system, a task decomposition strategy based on task knowledge and a task allocation strategy in terms of the robotic capability are proposed, respectively. Moreover, a control method by stages based on the information of multiple sensors is introduced to object recognition, task planning, path planning and trajectory planning. Finally, a 3D simulation and experiment of screwing nut and bolt are implemented on a dual‐arm robot system, and the feasibility and applicability of this control strategy are verified.

Findings

The automatic planning can be accomplished by means of sensors information by stages, and by this method, the autonomy and intelligence of dual‐arm space robot system can be further improved.

Practical implications

A new automatic planning strategy integrated with multiple sensors information by stages is proposed, and can be implemented on a dual‐arm robot system for inner space‐station operations. This method specializes in heterogeneous dual‐arm robot system.

Originality/value

A task decomposition strategy based on task knowledge and a task allocation strategy in terms of the robotic capability are proposed, respectively. Moreover, a control method by stages based on the information of multiple sensors is introduced to object recognition, task planning, path planning and trajectory planning of dual‐arm robot system.

Details

Industrial Robot: An International Journal, vol. 38 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 17 August 2012

Jacques Penders and Lyuba Alboul

This paper aims to discuss traffic patterns generated by swarms of robots while commuting to and from a base station.

1953

Abstract

Purpose

This paper aims to discuss traffic patterns generated by swarms of robots while commuting to and from a base station.

Design/methodology/approach

The paper adopts a mathematical evaluation and robot swarm simulation. The swarm approach is bottom‐up: designing individual agents the authors are looking for emerging group behaviour patterns. Examples of group behaviour patterns are human‐driven motorized traffic which is rigidly structured in two lanes, while army ants develop a three‐lane pattern in their traffic. The authors copy army ant characteristics onto their robots and investigate whether the three lane traffic pattern may emerge. They follow a three‐step approach. The authors first investigate the mathematics and geometry of cases occurring when applying the artificial potential field method to three “perfect” robots. Any traffic pattern (two, three or more lanes) appears to be possible. Next, they use the mathematical cases to study the impact of limited visibility by defining models of sensor designs. In the final step the authors implement ant inspired sensor models and a trail following mechanism on the robots in the swarm and explore which traffic patterns do emerge in open space as well as in bounded roads.

Findings

The study finds that traffic lanes emerge in the swarm traffic; however the number of lanes is dependent on the initial situation and environmental conditions. Intrinsically the applied robot models do not determine a specific number of traffic lanes.

Originality/value

The paper presents a method for studying and simulating robot swarms.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 5 no. 3
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 29 March 2011

Tonglin Liu, Chengdong Wu, Bin Li, Shugen Ma and Jinguo Liu

The purpose of this paper is to describe a shape‐shifting robot with diverse configurations, named “AMOEBA‐I”, which has been developed for search and rescue operations…

Abstract

Purpose

The purpose of this paper is to describe a shape‐shifting robot with diverse configurations, named “AMOEBA‐I”, which has been developed for search and rescue operations. The accessibility of this robot to unstructured environment is efficiently enhanced by changing its configuration. So the shape and reconfiguration of the robot should be considered in AMOEBA‐I path planning to improve work ability of the robot in complex environment. The unique accessibility of AMOEBA‐I is thus fully displayed.

Design/methodology/approach

An auto‐adapted path‐planning method is presented for AMOEBA‐I by introducing the reconfigurable ability of the robot into the modified potential field method. The modified potential field method solves the local minimum problem and goal‐unreachable with nearby obstacles (GUWNO) effectively. A method of the shape‐shifting robot's passing through the narrow space is studied by combining the corner detection with the modified potential field method.

Findings

The ability of the robot to automatically change configuration to pass through a narrow space is proven through the experiment. Simulation results show that the robot can change its own configurations to perform auto‐adapted path planning corresponding to the environmental variation. Therefore, the proposed method can improve the probability of completing the path planning. As a result, this method will shorten the path length and complete the rescue operation more effectively.

Originality/value

The paper presents an effective auto‐adapted path‐planning method that integrates the reconfigurable ability of the robot into the modified potential field method in order to realize the auto‐adapted path planning.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 4 no. 1
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 5 April 2022

Zhimin Pan, Yu Yan, Yizhou Huang, Wei Jiang, Gao Cheng Ye and Hong Jun Li

The purpose of this paper is to achieve optimal climbing control of the gas-insulated switchgear (GIS) robot, as the authors know that the GIS inspection robot is a kind…

Abstract

Purpose

The purpose of this paper is to achieve optimal climbing control of the gas-insulated switchgear (GIS) robot, as the authors know that the GIS inspection robot is a kind of artificial intelligent mobile equipment which auxiliary or even substitute human labor drive on the inner wall of the gas-insulated metal enclosed switchgear. The GIS equipment fault inspection and maintenance can be realized through the robot manipulator on the mobile platform and the camera carried on the fuselage, and it is a kind of intelligent equipment for operation. To realize the inspection and operation of the GIS equipment pipeline without blind spots, the robot is required to be able to travel on any wall inside the pipeline, especially the top of the pipeline and both right and left sides of the pipeline, which requires the flexible climbing of the GIS inspection robot. The robot device has a certain adsorption function to ensure that the robot is fully attached to the wall surface. At the same time, the robot manipulator can be used for collision-free obstacle avoidance operation planning in the narrow operation space inside the GIS equipment.

Design/methodology/approach

The above two technologies are the key that the robot completes the GIS equipment inspections. Based on this, this paper focuses on modeling and analysis of the chassis adsorption characteristics for the GIS inspection robot. At the same time, the Denavit Hartenberg (D-H) coordinate model of the robot arm system has been established, and the kinematics forward and inverse solutions of the robot manipulator system have been derived.

Findings

The reachable working space point cloud diagram of the robot manipulator in MATLAB has been obtained based on the kinematics analysis, and the operation trajectory planning of the robot manipulator using the robot toolbox has been obtained. The simulation results show that the robot manipulator system can realize the movement without collision and obstacle avoidance. The space can cover the entire GIS pipeline so as to achieve no blind area operation.

Originality/value

Finally, the GIS inspection robot physical prototype system has been developed through system integration design, and the inspection, maintenance operation experiment has been carried out in the actual GIS equipment. The entire robot system can complete the GIS equipment inspection operation soundly and improve the operation efficiency. The research in this paper has important theoretical significance and practical application value for the optimization design and practical research of the GIS inspection robot system.

Details

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

Keywords

Article
Publication date: 27 April 2020

J. Guillermo Lopez-Lara, Mauro Eduardo Maya, Alejandro González, Antonio Cardenas and Liliana Felix

The purpose of this paper is to present a new vision-based control method, which enables delta-type parallel robots to track and manipulate objects moving in arbitrary…

Abstract

Purpose

The purpose of this paper is to present a new vision-based control method, which enables delta-type parallel robots to track and manipulate objects moving in arbitrary trajectories. This constitutes an enhanced variant of the linear camera model-camera space manipulation (LCM-CSM).

Design/methodology/approach

After obtaining the LCM-CSM view parameters, a moving target’s position and its velocity are estimated in camera space using Kalman filter. The robot is then commanded to reach the target. The proposed control strategy has been experimentally validated using a PARALLIX LKF-2040, an academic delta-type parallel platform and seven different target trajectories for which the positioning errors were recorded.

Findings

For objects that moved manually along a sawtooth, zigzag or increasing spiral trajectory with changing velocities, a maximum positioning error of 4.31 mm was found, whereas objects that moved on a conveyor belt at constant velocity ranging from 7 to 12 cm/s, average errors between 2.2-2.75 mm were obtained. For static objects, an average error of 1.48 mm was found. Without vision-based control, the experimental platform used has a static positioning accuracy of 3.17 mm.

Practical implications

The LCM-CSM method has a low computational cost and does not require calibration or computation of Jacobians. The new variant of LCM-CSM takes advantage of aforementioned characteristics and applies them to vision-based control of parallel robots interacting with moving objects.

Originality/value

A new variant of the LCM-CSM method, traditionally used only for static positioning of a robot’s end-effector, was applied to parallel robots enabling the manipulation of objects moving along unknown trajectories.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

1 – 10 of over 6000