Robot Workspace

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Philippe Martinet - One of the best experts on this subject based on the ideXlab platform.

  • enlarging parallel Robot Workspace through type 2 singularity crossing
    Control Engineering Practice, 2015
    Co-Authors: Georges Pagis, Nicolas Bouton, Sébastien Briot, Philippe Martinet
    Abstract:

    Abstract In order to increase the reachable Workspace of parallel Robots, a promising solution consists of the definition of optimal trajectories that ensure the non-degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modeling errors. This paper proposes a robust multi-model approach allowing parallel Robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The two main contributions are the definition of an optimal trajectory crossing Type 2 singularities and the multi-model control law allowing to track this trajectory. The proposed control law is validated experimentally through a Five-bar planar mechanism.

  • Enlarging Parallel Robot Workspace through Type-2 Singularity Crossing
    Control Engineering Practice, 2015
    Co-Authors: Georges Pagis, Nicolas Bouton, Sébastien Briot, Philippe Martinet
    Abstract:

    In order to increase the reachable Workspace of parallel Robots, a promising solution consists in the definition of optimal trajectories that ensure the non degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modelling errors. This paper proposes a robust multi-model approach allowing parallel Robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The proposed control law is validated experimentally through a Five-bar planar parallel mechanism.

Georges Pagis - One of the best experts on this subject based on the ideXlab platform.

  • enlarging parallel Robot Workspace through type 2 singularity crossing
    Control Engineering Practice, 2015
    Co-Authors: Georges Pagis, Nicolas Bouton, Sébastien Briot, Philippe Martinet
    Abstract:

    Abstract In order to increase the reachable Workspace of parallel Robots, a promising solution consists of the definition of optimal trajectories that ensure the non-degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modeling errors. This paper proposes a robust multi-model approach allowing parallel Robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The two main contributions are the definition of an optimal trajectory crossing Type 2 singularities and the multi-model control law allowing to track this trajectory. The proposed control law is validated experimentally through a Five-bar planar mechanism.

  • Enlarging Parallel Robot Workspace through Type-2 Singularity Crossing
    Control Engineering Practice, 2015
    Co-Authors: Georges Pagis, Nicolas Bouton, Sébastien Briot, Philippe Martinet
    Abstract:

    In order to increase the reachable Workspace of parallel Robots, a promising solution consists in the definition of optimal trajectories that ensure the non degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modelling errors. This paper proposes a robust multi-model approach allowing parallel Robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The proposed control law is validated experimentally through a Five-bar planar parallel mechanism.

Kuu-young Young - One of the best experts on this subject based on the ideXlab platform.

  • Implementation of a Variable D-H Parameter Model for Robot Calibration Using an FCMAC Learning Algorithm
    Journal of Intelligent and Robotic Systems, 1999
    Co-Authors: Kuu-young Young, Jin-jou Chen
    Abstract:

    Current Robot calibration schemes usually employ calibration models with constant error parameters. Consequently,they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desiredaccuracy only in certain regions of the Robot Workspace. To deal with the locality phenomenon, CEPs that vary in differentregions of the Robot Workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg)parameter model to formulate variations of CEPs. An FCMAC (Fuzzy Cerebellar Model Articulation Controller) learningalgorithm is used to implement the proposed variable D-H parameter model. Simulations and experiments that verify theeffectiveness of the proposed calibration scheme based on the variable D-H parameter model are described.

  • PATH FEASIBILITY AND MODIFICATION BASED ON THE PUMA 560 Workspace ANALYSIS
    Journal of Mechanical Design, 1994
    Co-Authors: Kuo-chiang Shao, Kuu-young Young
    Abstract:

    Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given Robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given Robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the Robot Workspace. Geometric expressions are then derived to describe the relationship about the planned path and the Robot Workspace. Finally, by applying the developed modification strategies based on different task requirements, feasible paths can be obtained by modifying the infeasible portions of the paths. To demonstrate the proposed feasibility and modification schemes, the PUMA 560 Robot manipulator is selected as a case study due to its complexity and practical application. The results are then extended to general wrist-partitioned types of industrial Robot manipulators.

  • Path feasibility and modification based on Robot Workspace geometry
    [1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1
    Co-Authors: Kuu-young Young
    Abstract:

    The Workspaces of Robot manipulators consisting of different combinations of joint types with offsets in between are analyzed. The analysis concentrates on nonredundant wrist-partitioned types of Robot manipulators. Kinematic feasibility of a planned Robot path is restrained by the kinematic constraints of the Robot executing the task, such as Workspace, configuration, and singularity. Since the kinematic constraints can be described utilizing the geometry of the given Robot, corresponding regions within the Robot Workspace can be expressed in a geometrical representation. Consequently, geometric information can be extracted from the tested path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian Robot path that is kinematically infeasible can be modified according to different task requirements. To demonstrate the proposed path feasibility and modification schemes, simulations for a 6R Robot manipulator are presented. >

  • An automated Robot calibration system based on a variable D-H parameter model
    Proceedings of 35th IEEE Conference on Decision and Control, 1
    Co-Authors: Kuu-young Young, Jin-jou Chen, Chia Ching Wang
    Abstract:

    Current Robot calibration schemes usually employ calibration models with constant error parameters. Consequently, they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desired accuracy only in certain regions of the Robot Workspace. This is mainly because of incomplete modeling of errors, resulting in imprecision, and because only a limited amount of measured data are available for identifying CEPs. To deal with the locality phenomenon, CEPs that vary in different regions of the Robot Workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg, 1955) parameter model to formulate variations of CEPs. Simulations and experiments that verify the effectiveness of the proposed calibration system are described.

  • Robot Workspace Geometry For Trajectory Feasibility Study
    Proceedings of the 1988 IEEE International Conference on Systems Man and Cybernetics, 1
    Co-Authors: Kuu-young Young
    Abstract:

    Due to the physical constraints of a Robot manipulator, the successfulness of Robot executing a planned Cartesian trajectory depends on the feasibility of this planned trajectory. As the constraints of Robot's work-space, configuration and singularity can be described by the geometry of Robot's Workspace, the kinematic feasibility of a planned trajectory call be tested through Workspace's geometry. Due to the complexity of the general case a Robot manipulator with six revolute joints (6R) is selected as the case study in this paper. As a result, any point along a planned Cartesian trajectory can be determined whether it is inside the Robot's Workspace, if it is in the region of singularity, and be provided with the suitable Robot configurations.

Ferat Sahin - One of the best experts on this subject based on the ideXlab platform.

  • speed and separation monitoring using on Robot time of flight laser ranging sensor arrays
    Conference on Automation Science and Engineering, 2019
    Co-Authors: Shitij Kumar, Sarthak Arora, Ferat Sahin
    Abstract:

    In this paper, a speed and separation monitoring (SSM) based safety controller using three time-of-flight ranging sensor arrays fastened to the Robot links, is implemented. Based on the human-Robot minimum distance and their relative velocities, a controller output characterized by a modulating Robot operation speed is obtained. To avert self-avoidance, a self occlusion detection method is implemented using ray-casting technique to filter out the distance values associated with the Robot-self and the restricted Robot Workspace. For validation, the Robot Workspace is monitored using a motion capture setup to create a digital twin of the human and Robot. This setup is used to compare the safety, performance and productivity of various versions of SSM safety configurations based on minimum distance between human and Robot calculated using on-Robot Time-of-Flight sensors, motion capture and a 2D scanning lidar.

  • Sensing Volume Coverage of Robot Workspace using On-Robot Time-of-Flight Sensor Arrays for Safe Human Robot Interaction
    arXiv: Robotics, 2019
    Co-Authors: Shitij Kumar, Ferat Sahin
    Abstract:

    In this paper, an analysis of the sensing volume coverage of Robot Workspace as well as the shared human-Robot collaborative Workspace for various configurations of on-Robot Time-of-Flight (ToF) sensor array rings is presented. A methodology for volumetry using octrees to quantify the detection/sensing volume of the sensors is proposed. The change in sensing volume coverage by increasing the number of sensors per ToF sensor array ring and also increasing the number of rings mounted on Robot link is also studied. Considerations of maximum ideal volume around the Robot Workspace that a given ToF sensor array ring placement and orientation setup should cover for safe human Robot interaction are presented. The sensing volume coverage measurements in this maximum ideal volume are tabulated and observations on various ToF configurations and their coverage for close and far zones of the Robot are determined.

  • SMC - Sensing Volume Coverage of Robot Workspace using On-Robot Time-of-Flight Sensor Arrays for Safe Human Robot Interaction
    2019 IEEE International Conference on Systems Man and Cybernetics (SMC), 2019
    Co-Authors: Shitij Kumar, Ferat Sahin
    Abstract:

    In this paper, an analysis of the sensing volume coverage of Robot Workspace as well as the shared humanRobot collaborative Workspace for various configurations of onRobot Time-of-Flight (ToF) sensor array rings is presented. A methodology for volumetry using octrees to quantity the detection/sensing volume of the sensors is proposed. The change in sensing volume coverage by increasing the number of sensors per ToF sensor array ring and also increasing the number of rings mounted on Robot link is also studied. Considerations of maximum ideal volume around the Robot Workspace that a given ToF sensor array ring placement and orientation setup should cover for safe human Robot interaction are presented. The sensing volume coverage measurements in this maximum ideal volume are tabulated and observations on various ToF configurations and their coverage for close and far zones of the Robot are determined.

  • CASE - Speed and Separation Monitoring using On-Robot Time-of-Flight Laser-ranging Sensor Arrays
    2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019
    Co-Authors: Shitij Kumar, Sarthak Arora, Ferat Sahin
    Abstract:

    In this paper, a speed and separation monitoring (SSM) based safety controller using three time-of-flight ranging sensor arrays fastened to the Robot links, is implemented. Based on the human-Robot minimum distance and their relative velocities, a controller output characterized by a modulating Robot operation speed is obtained. To avert self-avoidance, a self occlusion detection method is implemented using ray-casting technique to filter out the distance values associated with the Robot-self and the restricted Robot Workspace. For validation, the Robot Workspace is monitored using a motion capture setup to create a digital twin of the human and Robot. This setup is used to compare the safety, performance and productivity of various versions of SSM safety configurations based on minimum distance between human and Robot calculated using on-Robot Time-of-Flight sensors, motion capture and a 2D scanning lidar.

Nicolas Bouton - One of the best experts on this subject based on the ideXlab platform.

  • enlarging parallel Robot Workspace through type 2 singularity crossing
    Control Engineering Practice, 2015
    Co-Authors: Georges Pagis, Nicolas Bouton, Sébastien Briot, Philippe Martinet
    Abstract:

    Abstract In order to increase the reachable Workspace of parallel Robots, a promising solution consists of the definition of optimal trajectories that ensure the non-degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modeling errors. This paper proposes a robust multi-model approach allowing parallel Robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The two main contributions are the definition of an optimal trajectory crossing Type 2 singularities and the multi-model control law allowing to track this trajectory. The proposed control law is validated experimentally through a Five-bar planar mechanism.

  • Enlarging Parallel Robot Workspace through Type-2 Singularity Crossing
    Control Engineering Practice, 2015
    Co-Authors: Georges Pagis, Nicolas Bouton, Sébastien Briot, Philippe Martinet
    Abstract:

    In order to increase the reachable Workspace of parallel Robots, a promising solution consists in the definition of optimal trajectories that ensure the non degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modelling errors. This paper proposes a robust multi-model approach allowing parallel Robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The proposed control law is validated experimentally through a Five-bar planar parallel mechanism.

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