Type Robot Arm Research Articles

Desain Sistem Mekanik Robot SCARA untuk Internet Nuclear Instrumentation Laboratory

Radiation protection training requires a robotic arm as a radiation shield regulator that can be controlled remotely to reduce radiation risk. The required robot is a Selective Compliance Assembly Robot Arm (SCARA) type robotic arm. This research aims to design a mechanical system for the SCARA robot for the Internet Nuclear Instrumentation Laboratory (INIL). The research method for making robots begins with a 3D CAD design followed by manufacturing and assembly. Robot control using the Arduino IDE application. Robotic arm testing using stress analysis from Autodesk Inventor software and movement and accuracy testing. The results of the research have successfully designed robotic arms with dimensions of 50.8 cm high, 14 cm wide, and 56 cm long. The robot's work area is 189 cm2, with the farthest range being 30 cm. Keywords: radiation protection, mechanical design, SCARA robot, robotic arm, NPP, INIL

Design and Analysis of the Spray-Painting Robot for tall statues and monuments

The painting on tall structures, statues, monuments and buildings is dangerous task for humans. Robotics finds its applications in operations, which are repetitive, hazardous, and dangerous. The aim of the present work is to design a manipulator for spray painting on surfaces of tall monuments, statues and structures. The robot can be installed on a crane platform for lifting and operated from the ground. A lightweight and compact design is desired that can be easily accommodated within the space of the crane. A Revolute-Revolute-Revolute-Prismatic (RRRP) type Robotic arm is developed and analysed for this application. By establishing the rigid body tree model in Robotics System Toolbox, the numerical model of direct and inverse kinematics using Homogenous Matrix Transformation is prepared in MATLAB. Using the spray patch method and offline programming method, the spray model is prepared in Solid woks to obtain trajectory waypoints. A B-spline path is generated through these waypoints. At each waypoint, joint displacement variables are calculated using an inverse kinematic model. An air-less spray gun is selected and attached with a robot. Controlled motion algorithm for spray painting operation on a circular surface were obtained with simulation results. A smooth trajectory for performing spray painting is obtained.

Software Platform for the Assisted Research of the Kinematics and Dynamics of Industrial Robots

The paper presents a software platform made with LabVIEWTM for the assisted research of the kinematic and dynamic behavior of industrial robots. The platform comprises a series of virtual instrumentation LabVIEWTM programs (subVI-s) with: the input data modules in the form of several clusters with the parameters of the trapezoidal velocity characteristics of each joint, the axes of movement and the type of each joints, the dimensions of each body, the graph associated to the robot’s structure, the incidence matrices bodies - joints and joints- bodies, as well as the control buttons for movement up or down with or without object in the end- effecter, some modules with 2D characteristics of positions, velocities, accelerations, forces and moments in each joints and also the 3D characteristics of them. The research of the current stage shows that such a complex platform like this was not realized, the current research being limited to the animation of motion trajectories, determining the characteristics of positions, velocities, accelerations, forces and moments without the possibility of changing all motion parameters and robot’s dimensions and without show how these parameters change the behavior. The paper studies the case of an articulated arm type robot, but the platform can be used for any type of robot with four degrees of freedom (DOF).

마사지 로봇의 다양한 힘 제어에 대한 실험 성능의 비교에 대한 연구

This paper presents a one-axis massage robot for humans. The massage robot is controlled by force control algorithms so that a force sensor is mounted to measure the contact force and a ball caster is attached at the end to minimize the friction force. The massage robot is installed to an x-y-z gantry type robot arm to move the end effector to a specific position on the object. Force is controlled in the z-axis direction only. Three distinct force control algorithms are tested. Two major force control algorithms, hybrid and impedance force control, are tested along with an explicit force control algorithm. Experimental studies are performed on the artificial skin of a human model for cardiopulmonary resuscitation (CPR) training. Force control performances by each algorithm are compared.

Design and analysis of a robotic arm under different loading conditions using FEA simulation

Robotic arms have become a crucial part of every industry, ranging applications from welding or assembly of various components to works that involve high precision. To enable small industries to take advantage of robotics and automation, optimization of the design through analysis is very essential. It also reduces the cost of the product and increases the life cycle. This study comprises the design and analysis of a human arm type robotic arm under different loading conditions using Finite Element Analysis (FEA) simulation. A minimalistic approach has been adopted throughout the design of the robotic arm. In this paper, the Computer-Aided Design (CAD) model of the robotic arm is developed using Creo Parametric software and is exported to Ansys. From the results of this study, it is found out that material properties play a vital role in different loading conditions. Thus, optimization of design is achieved by observing the effect of changing materials, using Ansys Workbench. Finite Element Method (FEM) provides a clear view of design, optimization, failure analysis and helps in saving material, time and cost.

Assisted Multi Objectives Research Optimization of the Arm Type Robot’s Forces

Assisted Multi Objectives Research Optimization of the Arm Type Robot’s Forces

Pre-filter design for exact linearization-based tracking controllers for variable-load systems

Several classes of weight handling equipment with nonlinear dynamics are exact linearizable by feedback. This implies that a controller ensuring exponential decay of the tracking error along a reference trajectory can be also designed. The control of both fully actuated robotic arms and underactuated crane-like systems can be addressed through this method. However, the value of model parameters such as the mass of the load or the friction coefficients must be known to calculate the actuated inputs in closed-loop. Uncertainty of these parameters may result in unstable closed-loop dynamics or in the deterioration of the tracking performance. This paper presents a design procedure to take into consideration such uncertainties using a serial pre-filter which is determined using H_infty techniques. The procedure is applied for a SCARA type robotic arm and for a two-dimensional overhead crane system. Simulation results show the applicability of the suggested method.

The Kinematics Analysis of Robotic Arm manipulators Cylindrical Robot RPP Type for FFF 3D Print using Scilab

Robotic arm is a popular machine in industrial and has vast application. The FFF 3D Print are technology that has become more popular these day. This paper analyze the use of Cylindrical Robot RPP type robotic arm manipulator as 3D printer based on kinematics. First establishes reference frames by using D-H method and solves kinematic problems of robotic arm manipulator Cylindrical Robot type for FFF 3d Print. Finally, using the open software Scilab simulate the kinematics characteristics of the robotic arm for FFF 3d Print.

Control of Eye-And-Hand type robot arm by visual servoing based on visual space

Control of Eye-And-Hand type robot arm by visual servoing based on visual space

Performance Improvement of the Robotic Arm using Fractional Order PID

This research is concerned with the study of Fractional order PID controller (FOPID). The fractional order controller (FOPID) is the generalization of the integer order PID controller. Which applied on robotic arm have 5Joints, practically and by simulation utilizing Matlab/Simulink. The Simulink by using tools fomcon version (1.0) has been added to the Matlab program. As well as the building and convert the robot arm of the type robotic arm edge. Practically the realization has been done using microcontroller Arduino which connection Matlab program by using tools box has been added to the Matlab program too. To control the arm joints of the positions that is the human arm simulator. Since the FOPID and PID controller has many parameters, which must be tuned to get the best performance for the robotic arm system so that the robotic arm system simulated in Matlab and interconnected with intelligent optimization method which called Bacterial Foraging Optimization to find the optimal parameter values that minimizing an objective function given as overshoot and Integral of time weighted absolute error (ITAE). The time domain and frequency domain performance for the closed loop the arm joints system compared for both FOPID with conventional PID controller. The obtained results show that the performance of the system with FOPID controller was better than the conventional PID controller.

Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm

This work presents a neuro-adaptive control method in sliding mode control designed in discrete time for SCARA robot arm. The proposed control structure is based on neuro-adaptive sliding mode control to adjust dynamics variations of the SCARA robot. The sliding control is included to ensure that the discrete-time neural control can improve the stable closed loop system to be immune to the parameters variations. The proposed technique simultaneously ensures the stability of the adaptation of neural networks and can obtain adequate control when the robot's parameters are inexactly or unknown. This adaptive neural system was applied on a SCARA type robot arm where the trajectory tracking error converges to zero. Finally, experiments have been developed on SCARA robot arm to demonstrate the efficiency of the proposed technique, including comparison with a classical controller.

Proper LabVIEW Instrumentation of the Robot’s Kinematics and Dynamics Behavior

The most important in the study of the robots is the kinematic and dynamic analyze. Many researchers studied the kinematics or dynamics without simulation and assisted analyze that it is very heavy to understand the behavior and to show some characteristics. The paper shows one assisted method by using the virtual proper LabVIEW instrumentation (VI). For the forward kinematics (FK) and for direct dynamics (DD) was used one recurrent matrix method which was developed with quaternion algebra, that will be possible to use in many different other types of robots, only by initial settings of the type of joints, the movement axis, the home position, the dimension of each robot’s body, the application point in the working space of the manufacturing cells and the internal coordinates in each joint. For the inverse kinematics (IK) we used the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with the proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). The paper describe all steps in one case study to obtain the space curve in different Euller planes by using one arm type robot and the proposedVI-s. The presented method and the LabVIEWVI-s are generally and they can be used in all other robots types and for all other conventional and unconventional space curves.

Increase the Space Trajectory Precision by Using the Proper Assisted Research Method for Inverse Kinematics Problem

Inverse kinematics model of the industrial robot is used in the control of the end-effecter trajectory. The solution of the inverse kinematics problem is very difficult to find, when the degree of freedom increase and in many cases this is impossible. In these cases is used the numerical approximation or other method with diffuse logic. The paper showed one new method for optimization of the inverse cinematic solution by applying the proper assisted Iterative Pseudo Inverse Jacobian Matrix Method coupled with proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links Method (IPIJMM-SBHTNN-TDRLM). In the paper was shown one case study to obtain one space circle curve by using one arm type robot and the proposed method. The errors of the space coordinates of the circle, after applying the proposed method, was less than 0.001. The study has contained the determining the internal coordinates corresponding to the external coordinates of the circle space curve, by solving the inverse kinematics with the proposed method and after that, by applying the forward kinematics to this coordinates, were obtained the external coordinates, what were compared with the theoretical one. The presented method is general and it can be used in all other robots types and for all other conventional and unconventional space curves.

Proper Smart Method of the Inverse Kinematic Problem

One of the most precise method solving the inverse kinematics problem in the redundant cases of the robots is the coupled method. The proposed method use the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with the proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). One precise solution of the inverse kinematics problem is very difficult to find, when the degree of freedom increase and in many cases this is impossible because the redundant solutions. In all these cases must be used the numerical iterative approximation, like the proposed method, with artificial intelligence algorithm. The paper describe all the steps in one case study to obtain the space circle curve in different planes by using one arm type robot and the proposed method. The errors of the space movement of the robot end-effecter, after applying the proposed method, was less than 0,01. The presented method is general and it can be used in all other robots types and for all other conventional and unconventional space curves.

Adaptive functional-based neuro-fuzzy PID incremental controller structure

This paper presents an adaptive functional-based neuro-fuzzy PID incremental controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input---output space of the three-term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral functions for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation. Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using bees algorithm and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA® type robot arm.

Proper Assisted Research Method Solving of the Robots Inverse Kinematics Problem

Finding the better solution of the inverse kinematics problem, with the minimum of the trajectory errors, is very difficult because there are many variable parameters and many redundant solutions. The presented paper show the assisted solving of the inverse kinematics with the goal to minimize the final end-effector trajectory errors, by optimizing the distance between the and-effector final position and the target. All obtained results were been verified by applying the proper forward kinematics virtual LabVIEW instrumentation. The paper tries to answer at the inverse kinematics problem for one known mathematical trajectory and identifying the cinematic errors after the establishing and applying the proper assisted solving method using the Cycle Coordinate Descent Method coupled to the proper Neural Network Sigmoid Bipolar Hyperbolic Tangent (CCDM-SBHTNN). We were shown one complete study case to obtain one circle space trajectory using one arm type robot fixed on the ceiling. The presented method is general and can be used in all other robots types and in all other conventional and unconventional space curves.

Adaptive Functional-Based Neuro-Fuzzy-PID Incremental Controller Structure

This paper presents an adaptive functional-based Neuro-fuzzy-PID incremental (NFPID) controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input-output space of the three term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral function for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation. Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using Bees Algorithm, and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA type robot arm.

2P1-J07 仮想リンク機構を用いた逆運動学による肘特異点問題の回避 : PUMA型ロボットアームへの適用(動作計画と制御の新展開)

2P1-J07 仮想リンク機構を用いた逆運動学による肘特異点問題の回避 : PUMA型ロボットアームへの適用(動作計画と制御の新展開)

2A2-D16 ヒトとアーム型ロボットの協調行動獲得実験 : 強化学習によるアプローチ

2A2-D16 ヒトとアーム型ロボットの協調行動獲得実験 : 強化学習によるアプローチ

Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria

SUMMARYIn this study, we consider a model based robust control scheme for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks (e.g., maintaining manipulability, avoidance of mechanical joint limits, and obstacle avoidance). The controller proposed ensures uniformly ultimately bounded end-effector and sub-task tracking despite the parametric uncertainty associated with the dynamic model. A Lyapunov based approach has been utilized in the controller design and extension to a non minimum set of parameters for orientation representation has been presented to illustrate the flexibility of the approach. Extensive simulation studies performed initially on a 3 link planar robot arm (for the planar case) and on a six degree of freedom (DOF) Puma type robot arm (for the 3D case with quaternion feedback) are presented to demonstrate the capabilities and the performance of the controller. The results were then experimentally tested on an actual Puma 560 robot to illustrate the feasibility of the proposed method.