The Experts below are selected from a list of 47628 Experts worldwide ranked by ideXlab platform

C Mongillo - One of the best experts on this subject based on the ideXlab platform.

  • motion planning for mobile manipulators along given End Effector paths
    International Conference on Robotics and Automation, 2005
    Co-Authors: Giuseppe Oriolo, C Mongillo
    Abstract:

    We consider the problem of planning collision-free motions for a mobile manipulator whose End-Effector must travel along a given path. Algorithmic solutions are devised by adapting a technique developed for fixed-base redundant robots. In particular, we exploit the natural partition of generalized coordinates between the manipulator and the mobile base, whose nonholonomy is accounted for at the planning stage. The approach is based on the randomized generation of configurations that are compatible with the End-Effector path constraint. The performance of the proposed algorithms is illustrated by several planning experiments.

T. Fukuda - One of the best experts on this subject based on the ideXlab platform.

  • Adhesion-type micro End Effector for micromanipulation
    Proceedings of International Conference on Robotics and Automation, 1997
    Co-Authors: F. Arai, T. Fukuda
    Abstract:

    Micro manipulation is required for assembly and maintenance of micro machines and their parts. In this paper, we propose a new pick up and release method for micromanipulation. The proposed method utilizes pressure change based on temperature change inside the micro holes made on the End-Effector surface. In order to pick up the micro object, the End-Effector temperature is increased to exceed room temperature before touching the object. After contact with the object, its temperature is decreased and negative pressure is generated inside the micro holes to pick it up. To release it, the End-Effector temperature is increased again. This method realizes quick response due to its scale advantage as long as it is miniaturized in micro order. We made a prototype End-Effector by Si surface micromachining. We analyzed the static performance of this End-Effector and conducted experiments. Finally, effectiveness of the proposed method is shown.

  • ICRA - Adhesion-type micro End Effector for micromanipulation
    Proceedings of International Conference on Robotics and Automation, 1997
    Co-Authors: F. Arai, T. Fukuda
    Abstract:

    Micro manipulation is required for assembly and maintenance of micro machines and their parts. In this paper, we propose a new pick up and release method for micromanipulation. The proposed method utilizes pressure change based on temperature change inside the micro holes made on the End-Effector surface. In order to pick up the micro object, the End-Effector temperature is increased to exceed room temperature before touching the object. After contact with the object, its temperature is decreased and negative pressure is generated inside the micro holes to pick it up. To release it, the End-Effector temperature is increased again. This method realizes quick response due to its scale advantage as long as it is miniaturized in micro order. We made a prototype End-Effector by Si surface micromachining. We analyzed the static performance of this End-Effector and conducted experiments. Finally, effectiveness of the proposed method is shown.

Kejie Li - One of the best experts on this subject based on the ideXlab platform.

  • Location and Tracking of Robot End-Effector Based on Stereo Vision
    2006 IEEE International Conference on Robotics and Biomimetics, 2006
    Co-Authors: Altaf Hussain Rajpar, Qiang Huang, Yunting Pang, Yie Tian, Kejie Li
    Abstract:

    In this paper stereo vision based tracking system for humanoid robot is proposed. The goal is to locate and track the End-Effector in unknown and dynamic environments. A robust approach is developed by utilizing visual features. Identical visual features such as color, disparity and adaptive template matching are used to detect and track the End-Effector robustly. An improved active search method is used in order to realize effective tracking of End-Effector. Active search stereo vision system of humanoid robot is designed. Two computers are embedded in to the system to realize real time robust tracking of End-Effector. One computer is used for processing visual information and other one is responsible for servo control of pan-tilt platform on which CCD cameras are mounted. The performance of the developed modular visual cues based tracking of End-Effector is exploited through experiments.

Giuseppe Oriolo - One of the best experts on this subject based on the ideXlab platform.

  • motion planning for mobile manipulators along given End Effector paths
    International Conference on Robotics and Automation, 2005
    Co-Authors: Giuseppe Oriolo, C Mongillo
    Abstract:

    We consider the problem of planning collision-free motions for a mobile manipulator whose End-Effector must travel along a given path. Algorithmic solutions are devised by adapting a technique developed for fixed-base redundant robots. In particular, we exploit the natural partition of generalized coordinates between the manipulator and the mobile base, whose nonholonomy is accounted for at the planning stage. The approach is based on the randomized generation of configurations that are compatible with the End-Effector path constraint. The performance of the proposed algorithms is illustrated by several planning experiments.

Tsukasa Ogasawara - One of the best experts on this subject based on the ideXlab platform.

  • Vibration-Reducing End Effector for Automation of Drilling Tasks in Aircraft Manufacturing
    IEEE Robotics and Automation Letters, 2017
    Co-Authors: Felix Von Drigalski, Lotfi El Hafi, Pedro Miguel Uriguen Eljuri, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara
    Abstract:

    In this letter, we present an End Effector that can drill holes compliant to aeronautic standards while mounted on a lightweight robot arm. There is an unmet demand for a robotic solution capable of drilling inside an aircraft fuselage, as size, weight, and space constraints disqualify current commercial solutions for this task. Our main contribution is the mechanical design of the End Effector with high-friction, vibration-reducing feet that are pressed against the workpiece during the drilling process to increase stability, and a separate linear actuator to advance the drill. This relieves the robot arm of the task of advancing and stabilizing the drill, and leaves it with the task of positioning and holding the End Effector. The stabilizing properties of the End Effector are confirmed experimentally. The solution took first place at the Airbus Shopfloor Challenge, an international robotics competition held at ICRA 2016 that modeled the in-fuselage drilling task.

  • Piezoelectric Tweezer-Type End Effector With Force- and Displacement-Sensing Capability
    IEEE ASME Transactions on Mechatronics, 2012
    Co-Authors: Yuichi Kurita, Fuyuki Sugihara, Jun Ueda, Tsukasa Ogasawara
    Abstract:

    This paper presents the design and development of robotic tweezers with a force- and displacement-sensing capability driven by piezoelectric stack actuators. In order to satisfy sufficient stroke and tip force for future medical operations, a rhombus strain amplification mechanism is adopted. One of the serially connected piezoelectric stack actuators nested in the End Effector is used as a force sensor. The force-displacement characteristics at the outermost layer with respect to the forces of the innermost PZT actuators (i.e., forward model) is obtained from a lumped parameter model of the rhombus strain amplification mechanism and a Bernoulli-Euler beam model of the tweezer-style End Effector. The End-Effector tip force and displacement are measured using an inverse model of the nested multilayer structure relating these quantities to an induced voltage across the innermost PZT actuator. The prototype End Effector has the size of 69 mm (length) × 14 mm (height) × 13 mm (width). The performance test shows that the prototype has 1.0-N force and 8.8-mm displacement at the tip. The sensing accuracy was also evaluated through experiments. The experimental results show that the prototype has mean error of 0.086 N for force and 0.39 mm for displacement, which are equivalent to 11% of their maximum measurable values.