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    Wyświetlanie 1-3 z 3
    Tytuł:
    Dual manipulator system calibration based on virtual constraints
    Autorzy:
    Zhu, Q.
    Xie, X.
    Li, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/200227.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    dual manipulators
    calibration
    virtual constraint
    optical axis
    robot-robot
    hand-eye
    Opis:
    Calibration is necessary for dual manipulator to complete operational tasks. This paper proposes an effective robot-robot and hand-eye calibration method based on virtual constraints. Firstly, a rotational error model and a translational error model are established based on the relationships between the transformation matrices of the dual manipulator calibration system. Then a poses-alignment method is designed to make the poses of the two robots satisfy the constructed virtual constraints. At the aligned positions, the joint angles of the two robots are saved and used to calculate the values of the variables in the error models. Finally, the robot-robot and hand-eye rotational errors are estimated by an iterative algorithm. These errors are then used to calculate translational errors based on the SVD (singular value decomposition) method. To show the feasibility and effectiveness of the proposed method, experiments of robot-robot and hand-eye calibration for dual manipulators are performed. The experiment results demonstrate that the accuracy of the dual manipulator system is improved greatly.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 6; 1149-1159
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Hand guiding a virtual robot using a force sensor
    Autorzy:
    Gregor, Radovan
    Babinec, Andrej
    Duchoň, František
    Dobiš, Michal
    Powiązania:
    https://bibliotekanauki.pl/articles/2115861.pdf
    Data publikacji:
    2021
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    hand guidance
    force torque sensor
    motion planning
    industrial robot
    Robot Operating System
    Opis:
    The research behind this paper arose out of a need to use an open-source system that enables hand guiding of the robot effector using a force sensor. The paper deals with some existing solutions, including the solution based on the open-source framework Robot Operating System (ROS), in which the built-in motion planner MoveIt is used. The proposed concept of a hand-guiding system utilizes the output of the force–torque sensor mounted at the robot effector to obtain the desired motion, which is thereafter used for planning consequential motion trajectories. Some advantages and disadvantages of the built-in planner are discussed, and then the custom motion planning solution is proposed to overcome the identified drawbacks. Our planning algorithm uses polynomial interpolation and is suitable for continuous replanning of the consequential motion trajectories, which is necessary because the output from the sensor changes due to the hand action during robot motion. The resulting system is verified using a virtual robot in the ROS environment, which acts on the real Optoforce force–torque sensor HEX-70-CE-2000N. Furthermore, the workspace and the motion of the robot are restricted to a greater extent to achieve more realistic simulation.
    Źródło:
    Acta Mechanica et Automatica; 2021, 15, 3; 177--186
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Hybrid robot hand for stably manipulating one group objects
    Autorzy:
    Nguyen, Pho Van
    Nguyen, Phi N.
    Nguyen, Tan
    Le, Thanh Lanh
    Powiązania:
    https://bibliotekanauki.pl/articles/27309856.pdf
    Data publikacji:
    2022
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    hybrid gripper
    soft gripper
    manipulate group objects
    handle multiple objects
    hybrid
    robot hand
    chwytak hybrydowy
    miękki chwytak
    manipulowanie obiektami grupowymi
    Opis:
    Autonomous manipulation of group objects requires the gripper/robot hand to achieve high productivity without poor outcomes such as object slippage and damage. This article develops the robot hand capable of achieving effective performance in each trial of grasping the group objects. Our proposed robot hand consists of two symmetrical groups of hybrid fingers having soft pads on the grasping interfaces, which operate as a comb. The grasping ability of this robot hand was theoretically and experimentally validated by handling three groups of objects showcases: tea packs, toothbrushes, and mixing sticks. Additionally, validation results were compared with those of another soft robot hand having soft Pneunet fingers. In each trial, the experimental results showed that the proposed robot hand with hybrid fingers achieved more stable grasping states characterized by a higher number of grasped objects than those in the case of the soft robot hand. Also, experimental results were in good agreement with the predictions of the proposed theoretical analysis. Finally, better performances of the hybrid robot hand in handling the group object provide the bases for developing a novel-robotic application in industrial production.
    Źródło:
    Archive of Mechanical Engineering; 2022, LXIX, 3; 375--391
    0004-0738
    Pojawia się w:
    Archive of Mechanical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-3 z 3

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