multi-DOF Manipulator Research Articles

Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator

In this paper, a new position domain synchronization control (PDSC) law is proposed for contour control of multi-DOF nonlinear robotic manipulators with the main goal of improving contour tracking performance. The robotic manipulator is treated as a master-slave motion system, where the position of the master motion is used as an independent reference via equidistant sampling, and the slave motions are described as functions of the master motion. To build this relationship, the dynamics of the original system is transformed from time domain to position domain. The new control introduces synchronization and coupled errors in the control law to further coordinate the master and slave motions. Stability analysis is performed based on the Lyapunov method for the proposed PDSC, and simulations are conducted to verify the effectiveness of the developed control system.

A Vision Detection Algorithm for LIGA Part Assembly

This paper proposes a vision detection algorithm to acquire LIGA part’s edges based on an in-house multi-DOF manipulator for LIGA part assembly. Feature recognition based on maximum information entropy is proposed to solve the problem that high precision edge recognition under backlight source. In order to further improve vision recognition accuracy, edge feature recognition algorithm based on symmetrical edge is proposed to recognize the center line of the symmetrical parts when the quality of the image is poor.

204 カメラ搭載型多自由度マニピュレータの機械特性とビジュアルフィードバック特性を考慮した拘束力学系における協調ハンドリング制御法(ロボテイクス・メカトロニクス,一般講演)

204 カメラ搭載型多自由度マニピュレータの機械特性とビジュアルフィードバック特性を考慮した拘束力学系における協調ハンドリング制御法(ロボテイクス・メカトロニクス,一般講演)

1A2-P25 ピッチ軸間にロール軸を有する機械式自重補償機構(ワイヤ駆動系の機構と制御)

Multi-DOF manipulators consist of many actuators. Then, it is difficult to increase output power without they becomes heavier. As a measure for this problem, several mechanisms called "Weight compensation system" have been developed. But these mechanisms cannot be installed in the manipulators which have the roll axis located between two pitch axes. The reason is that there is no reference point of gravity direction in such linkage. In this paper, we propose the new weight compensation mechanism used parallel motion mechanism with bevel gears. It has reference point of gravity direction that is independent from rotation around roll axis, and it is able to be installed the roll axis between two pitch axes.

A method to calculate working capacity space of multi-DOF manipulator and the application in excavating mechanism

Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.

Lyapunov-based bilateral teleoperation for surgical robotic forceps system with time varying delay

This paper addresses a new approach of bilateral control for a class of teleoperation systems with time-varying delay and its applications to bilateral teleoperation of robotic surgical device for minimally invasive surgery (MIS). A Lyapunov function-based bilateral control law for one-DOF teleoperation system that is capable of motion scaling in both position and force tracking is proposed so as to guarantee stability of the teleoperation system in the presence of time-varying delay. The proposed bilateral control law is adopted in vertical direction and horizontal direction for bending direction of the multi-DOF robotic forceps, respectively. Then, together with change of coordinates, the proposed bilateral control scheme is extended so that it may become applicable to bilateral control of omnidirectional bending of the multi-DOF robotic forceps manipulator incorporating a new screw-drive mechanism termed double-screw-drive mechanism. Thus, a scalable surgical device for MIS that can provide force feedback to surgeon is presented in this paper. In order to verify the effectiveness of the proposed bilateral control scheme, experimental works were carried out for the developed robotic forceps teleoperation test-bed for MIS.

지뢰 탐지를 위한 지면추종 및 탐지위치 표식에 관한 연구

The mine-detection system, which is one of the various mission equipments for Ground Vehicle System, detects mine under the ground. The mine detection sensors comprised of Metal Detection(MD) sensor and Ground Penetration Radar(GPR) are attached on the end of the multi-DOF manipulator. The manipulator moves the sensor to sweep mine areas keeping the pre-determined distance between the sensor and ground to enhance mine detection performance. The detection system can be operated automatically, semi-automatically and manually. When the detection system is operated automatically, the sensor should avoid collisions with unexpected obstacles which may exist on the ground. Two types of ultra-sonic sensors were developed for the mine detection sensor system to keep the appropriate gap between sensor and the ground to avoid the obstacles. Also, mine place marking device was developed.

A general dynamics and control model of a class of multi-DOF manipulators for active vibration control

Abstract A general dynamic model of a class of parallel platforms for vibration control applications based on Kane's method is presented. A general parallel platform is composed of a moving platform, a base platform, and i limbs with identical kinematic structure. Each limb connects the mobile platform to the base platform by j + 1 hinges and j struts, where the prismatic actuator is fixed at one of the struts. The hinges can be replaced by any other kind of conventional hinges or flexure hinges. The control system architecture based on mixed H2/H∞ synthesis method is introduced for a class of parallel platforms as a multiple-input/multiple-output (MIMO) problem for the purpose of active vibration isolation. A case study is illustrated and the theoretical analysis is validated at last.

Research on Virtual Design and Simulation System for Manipulators of Multi-Degree of Freedom

According to different environment and working requirement, the manipulators with diverse shapes and functions are required. In this paper, a virtual design and simulation system for manipulators of multi-degree of freedom (DOF) was put forward. Knowledge classification and modeling were carried out for the manipulator’s mechanism and motion behaviors. The software architecture framework and platform of the hardware and software were described. The overall program approach and its realization of the system were introduced. Based on the VC++ 6.0 development platform, the manipulator’s design and simulation system was developed and tested by examples. The results show that it provides a theoretical method and a tool for the virtual design and virtual manufacturing of multi-DOF manipulators in complex environment, which elevates the speed and lowers the cost of research and development.

DOUBLE-SCREW-DRIVE機構を用いた低侵襲手術用多自由度ロボット鉗子(機械力学,計測,自動制御)

DOUBLE-SCREW-DRIVE機構を用いた低侵襲手術用多自由度ロボット鉗子(機械力学,計測,自動制御)

Design and implementation of a brain-computer interface based on virtual instrumentation

The paper presents an on-line brain-computer interface (BCI) based on visual evoked potential (VEP) P300. The BCI is applied to control a multi-DOF manipulator. This BCI system includes five modules which are visual stimulator, signal acquisition, data processing, communication and motion control of the manipulator. In the experiment, the subject chooses the right oddball on a CRT/LCD displayer with eight blocks which are corresponding to the actions of the manipulator and gazes at it. The electroencephalography (EEG) of the subject is sampled to extract P300 feature. The algorithms of peak extraction, correlation analysis and wavelet transform are used to analyse EEG. The manipulator is controlled to move or operate by the subject's EEG with wire or wireless communication. The experiments show that the subject with little training can control the manipulator. The application and the future improvement of the research are also available in the paper.

発見的手法を用いた多自由度マニピュレータの軌道決定 : 鋼板搬送用マニピュレータの動的トルク抑制の実現

発見的手法を用いた多自由度マニピュレータの軌道決定 : 鋼板搬送用マニピュレータの動的トルク抑制の実現

Quasi-Static Tip Positioning of Multi-Segmented IPMC for Micro-Manipulation following Euler—Bernoulli and Pseudo-Rigid Body Model

In this article a kinematic model of multi-segmented ionic polymer metal composite (IPMC) patches has been proposed for micro-manipulation under moisture conditions. Pseudo-rigid body modeling and Euler—Bernoulli approach has been followed to get the end-tip position of the segmented patches. Kinematic modeling is carried out after constituting the homogeneous coordinate transformation considering it as a serial link multi-DOF manipulator. The motion of patches is restricted as planar in 2D. Simulation has been undertaken for single and two patches of IPMC to demonstrate the tip positioning of the segmented IPMC patches for different sequences of input voltage. The experiment is conducted for a single segment of IPMC to validate simulation results. It is observed that experimental results match the simulation results precisely.

건설로봇용 인간-로봇 협업 제어

Previously, ASCI(Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI`s operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.

MFR (Multipurpose Field Robot) for installing construction materials

The objective of the study was to propose a MFR (Multipurpose Field Robot) in hazardous operation environments. This system combines a basic system composed of a multi-DOF (Degree Of Freedom) manipulator and a mobile platform with an additional module for construction, national defense and emergency-rescue. According to an additional module type combined with a basic system, it can be used in a various fields. In this study, we describe a prototype of construction robot which helps a human operator handle easily construction materials in case of using the cooperation system on construction site. This study introduces an additional module for construction and a robot control algorithm for a HRC (Human-Robot Cooperation). In addition, it proposes a novel construction method to install construction materials with robot on construction site.

Human-robot cooperation control for installing heavy construction materials

Previously, ASCI (Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.

Real-Time Path Planning for Multi-DoF Manipulators in Dynamic Environment

An efficient path planning algorithm, for multi degrees of freedom manipulator robots in dynamic environments, is presented in this paper. The proposed method is based on a local planner and a boundary following method for rapid solution finding. The local planner is replaced by the boundary following method whenever the robot gets stuck in a local minimum. This method was limited to 2-DoF mobile robots and in this work we showed how it can be applicable for a robot with n degrees of freedom in a dynamic environment. The path planning task is performed in the configuration space and we used a hyperplane in the n dimensional space to find the way out of the deadlock situation when it occurs. This method is, therefore, able to find a path, when it exists, no matter how cluttered is the environment, and it avoids deadlocking inherent to the use of the local method. Moreover, this method is fast, which makes it suitable for on-line path planning in dynamic environment. The algorithm has been implemented into a robotic CAD system for testing. Some examples are presented to demonstrate the ability of this algorithm to find a path no matter how complex is the environment. These examples involve a 5-DoF robot in a cluttered environment, then two 5-DoF robots, and finally three 5-DoF robots. In all cases, the proposed method was able to find a path to reach the goal and to avoid the dynamic obstacles.

2A1-A14 低侵襲アプローチを目的とした整形外科手術支援マニピュレータの開発 : 骨表面での軟組織剥離動作

In this paper a prototype of surgery assisting manipulator for RAO (Rotational Acetabular Osteotomy) which is one of orthopedic surgeries is described. Final concept is that surgical system of two manipulators provides hip joint surgery as minimally invasive approach. One is a muscle retracting manipulator and the other is a bone cutting manipulator. The muscle retracting manipulator is inserted through a small incision hole to make a surgical space for the bone cutting manipulator. We focus the development of the muscle retracting manipulator. The prototype of the muscle retracting manipulator was made as a multi-DOF manipulator and the approach motion was composed by using compliance control. The soft tissues attached to the surface of bone model can be peeled by the prototype.

2A1-A06 Double-Screw-Drive機構を用いた低侵襲手術用多自由度鉗子の開発

2A1-A06 Double-Screw-Drive機構を用いた低侵襲手術用多自由度鉗子の開発

2A1-N-129 肘関節を有する多自由度鉗子マニピュレータの開発(医療福祉ロボティクス・メカトロニクス3,生活を支援するロボメカ技術のメガインテグレーション)

2A1-N-129 肘関節を有する多自由度鉗子マニピュレータの開発(医療福祉ロボティクス・メカトロニクス3,生活を支援するロボメカ技術のメガインテグレーション)