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    Wyświetlanie 1-2 z 2
    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
    Tytuł:
    Integration of navigation, vision, and arm manipulation towards elevator operation for laboratory transportation system using mobile robots
    Autorzy:
    Abdulla, A. A.
    Ali, M. M.
    Stoll, N.
    Thurow, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/384579.pdf
    Data publikacji:
    2017
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    mobile robot
    multi-floor
    elevator handler
    floor estimation
    labware transportation system
    kinematic analysis
    robotic arm control
    object detection
    localization
    Intel Real sense F200 sensor
    Opis:
    In the automated environments, mobile robots play an important role to perform different tasks such as objects transportation and material handling. In this paper, a new method for a glassy elevator handling system based on H20 mobile robots is presented to connect distributed life science laboratories in multiple floors. Various labware and tube racks have to be transported to different workstations. Locating of elevator door, entry button detection, internal buttons recognition, robot arm manipulation, current floor estimation, and elevator door status checking are the main operations to realize a successful elevator handling system. The H20 mobile robot has dual arms where each arm consists of 6 revolute joints and a gripper. The gripper has two degrees of freedom. Different sensors have been employed with the robot to handle these operations such as Intel RealSense F200 vision sensor for entry and internal buttons detection with position estimation. A pressure sensor is used for current floor estimation inside the elevator. Also, an ultrasonic proximity distance sensor is utilized for checking the elevator door status. Different strategies including HSL color representation, adaptive binary threshold, optical character recognition, and FIR smoothing filter have been employed for the elevator operations. For pressing operation, a hand camera base and a new elevator finger model are designed. The elevator finger is resolved in a way to fit the arm gripper which is used also to manipulate the labware containers. The Kinematic solution is utilized for controlling the arms’ joints. A server/client socket architecture with TCP/IP command protocol is used for data exchange between Multi-Floor System and the H20 robot arms. Many experiments were conducted in life science laboratories to validate the developed systems. Experimental results prove an efficient performance with high success rate under different lightening condition.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 4; 34-50
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-2 z 2

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