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Wyszukujesz frazę "manipulation" wg kryterium: Temat


Wyświetlanie 1-4 z 4
Tytuł:
Safe strategy of door opening with impendance controlled manipulator
Autorzy:
Winiarski, T.
Banachowicz, K.
Stefańczyk, M.
Powiązania:
https://bibliotekanauki.pl/articles/384427.pdf
Data publikacji:
2013
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
manipulation
impedance control
service robots
Opis:
Modern robotic systems are able to localize doors and its handle or knob, grasp the handle and open the door. Service robots need to open doors and drawers to autonomously operate in human environment. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was expanded with these factors to achieve safe behavior of direct (explicit) position-force controller of KUKA LWR4+ robot that opens the door.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 4; 21-26
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Functional characteristics of a new special gripper with flexible fingers
Autorzy:
Mianowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/384810.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
multifingered gripper
flexible fingers
service robotics
force-feedback manipulation
Opis:
Functional characteristics of an originally proposed design of multifingered gripper with flexible fingers is presented in the paper. The design work concentated on ensuring that the hand can contact with a variety of different shape objects made of flexible materials of different properties as well as fragile objects requiring particular caution when manipulated. Additionally it was assumed that the gripper should ensure a satisfactory reliability level, required high functionality and easy maintenance. The gripper design ensures beneficial variability of characteristics of the forces acting upon the object irrespective of the openning distance of fingers i.e. of the manipulated object size.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 9-13
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Experimental research of veles planetary rover performing simple construction tasks
Autorzy:
Trojnacki, Maciej
Brzęczkowski, Przemysław
Kleszczyński, Dominik
Powiązania:
https://bibliotekanauki.pl/articles/2141782.pdf
Data publikacji:
2021
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
planetary rover
mobility
construction task
manipulation task
in situ resource utilization
experimental research
Opis:
The paper is concerned with the problem of experimental research of Veles planetary rover performing simple construction tasks. The current state of the art in planetary rovers and their research in construction tasks are discussed. The Veles rover solution designed for construction tasks and experimental testbed are described. The experimental testbed included a test room with Moon regolith analogue. Experimental research concerning rover mobility and manipulation tasks were carried out. Experimental research consisted of various scenarios, including clearing an area that removes boulders and levelling the soil. The complementary scenario for the area preparation was to exchange the tools of the manipulator. In this case, the gripper and the shovel were used as end-effectors for moving objects, both structured or in the form of regolith. Results of selected experimental research are presented and discussed. Finally, directions of future works of the rover are pointed out.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2021, 15, 4; 30-36
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Kinematic Analysis of 6-DOF Arms for H20 Mobile Robots and Labware Manipulation for Transportation in Life Science Labs
Autorzy:
Ali, M. M.
Liu, H.
Stoll, N.
Thurow, K.
Powiązania:
https://bibliotekanauki.pl/articles/384603.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
kinematic analysis 6-DOF robotic arm
validation of kinematic solution
labware localization
labware manipulation
Kinect sensor
Opis:
This paper presents the kinematic analysis of the H20 humanoid mobile robot. The kinematic analysis for the robot arms is essential to achieve accurate grasping and placing tasks for object transportation. The H20 robot has dual arms with 6 revolute joints with 6-DOF. For each arm, the forward kinematics is derived and the closed-form solution for the inverse kinematic problem with different cases of singularities is found. A reverse decoupling mechanism method is used to solve the inverse kinematic problem analytically by viewing the arm kinematic chain in reverse order. The kinematics solution is validated using MATLAB with robotics toolbox. A decision method is used to determine the optimal solution within multiple solutions of inverse kinematic depending on the joints’ limits and minimum joints motion. The workspace analysis of the arm is found and simulated. Finally, a verification process was performed on the real H20 arms by applying blind and vision based labware manipulation strategies to achieve the transportation tasks in real life science laboratories.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 4; 40-52
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
    Wyświetlanie 1-4 z 4

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