A low cost 3-DOF force sensing unit design for wrist rehabilitation robots

Mayetin, Umut; Küçük, Serdar

doi:10.1016/j.mechatronics.2021.102623

Cited by 22 publications

(18 citation statements)

References 25 publications

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“…[7][8][9][10] So far, most rigid grinding robots are often position controlled and the robot end trajectory control is particularly important. Rigid grinding normally needs to acquire precise workpiece geometric data, plan an accurate grinding path using interpolation algorithms [11][12][13] such as cubic splines, trigonometric splines or polynomial splines, and then employs suitable sensors and error composition algorithms to construct a control loop. [14][15][16][17] Since a brush is a flexible body, there is not too much concern about position error, but force control is important.…”

Section: Introductionmentioning

confidence: 99%

An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush

Rei,

Wang,

Yan

et al. 2024

Advances in Mechanical Engineering

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This article introduces the design of a robot end effector, which can perform constant force grinding on a curved surface using a brush tool without accurately measuring the geometric data of the workpiece. It uses a bidirectional cylinder and spring to create a force balance system as an additional servo degree of freedom to control the grinding brush. The system adopts impedance control method, establishes a complete electric pneumatic model, and uses PID controller to control contact force by adjusting pneumatic pressure to maintain a constant grinding force on the surface. The test results indicate that the system can perform effective rust and paint removal tasks. For paint removal, the removal rate has been proven to be 99.3% through measurement using image processing software, while for rust removal, the results are at a similar level but reliable and quantifiable measurement methods are still being studied. The end effector can be installed on most general-purpose robots for grinding and has potential application value.

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Section: Introductionmentioning

confidence: 99%

An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush

Rei,

Wang,

Yan

et al. 2024

Advances in Mechanical Engineering

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“…Guire uses the mixed force position control to realize the robot beef cutting (Guire et al , 2010). Based on real-time force feedback, the robot is able to control the tool’s position and orientation in accordance with the plan path (Mayetin and Kucuk, 2021; Mayetin and Kucuk, 2022).…”

Section: Introductionmentioning

confidence: 99%

Online path planning of pork cutting robot using 3D laser point cloud

Liu,

Ning,

et al. 2024

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Purpose The purpose of this paper is to propose an new online path planning method for porcine belly cutting. With the proliferation in demand for the automatic systems of pork production, the development of efficient and robust meat cutting algorithms are hot issues. The uncertain and dynamic nature of the online porcine belly cutting imposes a challenge for the robot to identify and cut efficiently and accurately. Based on the above challenges, an online porcine belly cutting method using 3D laser point cloud is proposed. Design/methodology/approach The robotic cutting system is composed of an industrial robotic manipulator, customized tools, a laser sensor and a PC. Findings Analysis of experimental results shows that by comparing with machine vision, laser sensor-based robot cutting has more advantages, and it can handle different carcass sizes. Originality/value An image pyramid method is used for dimensionality reduction of the 3D laser point cloud. From a detailed analysis of the outward and inward cutting errors, the outward cutting error is the limiting condition for reducing the segments by segmentation algorithm.

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“…Medical robots are robots used for medical treatment or auxiliary medical care in medical scenarios. Medical robots can be divided into four categories: surgical robots [1] , rehabilitation robots [2] , auxiliary robots [3] , and service robots [4] .…”

Section: Introductionmentioning

confidence: 99%

输入受限的超冗余移动医疗机械臂混合控制

Zhang

Chen

Dong

2023

J. Shanghai Jiaotong Univ. (Sci.)

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To reduce the risk of infection in medical personnel working in infectious-disease areas, we proposed a hyper-redundant mobile medical manipulator (HRMMM) to perform contact tasks in place of healthcare workers. A kinematics-based tracking algorithm was designed to obtain highly accurate pose tracking. A kinematic model of the HRMMM was established and its global Jacobian matrix was deduced. An expression of the tracking error based on the Rodrigues rotation formula was designed, and the relationship between tracking errors and gripper velocities was derived to ensure accurate object tracking. Considering the input constraints of the physical system, a joint-constraint model of the HRMMM was established, and the variable-substitution method was used to transform asymmetric constraints to symmetric constraints. All constraints were normalized by dividing by their maximum values. A hybrid controller based on pseudo-inverse (PI) and quadratic programming (QP) was designed to satisfy the real-time motion-control requirements in medical events. The PI method was used when there was no input saturation, and the QP method was used when saturation occurred. A quadratic performance index was designed to ensure smooth switching between PI and QP. The simulation results showed that the HRMMM could approach the target pose with a smooth motion trajectory, while meeting different types of input constraints. Key words: input-constrained hybrid control, hyper-redundant mobile medical manipulator (HRMMM), pseudoinverse (PI), quadratic programming (QP), pose tracking CLC number: TP 242 Document code: A Nomenclature D-Normalized matrix e-Pose error ê-Joint position error f -Coefficient vector H -Coefficient matrix J -Global Jacobian matrix Jo-Jacobian matrix of the lifting manipulator LP-Pose-error interaction matrix LR-Rotating interaction matrix pe-Initial gripper pose p * e-Target gripper pose (px, py, pz)-Gripper position q-Joint position vector q0-Joint position vector at the previous moment q-Joint velocity vector q-Joint velocity vector with variable substitution R-Rotation matrix t-Position vector T -Homogeneous transformation matrix Uo-Normalized double-ended constraint v-Linear velocity Ve-Gripper velocity in the gripper coordinate system Vg-Gripper velocity in the world coordinate system α-Heading angle ζ-State of the mobile platform θ-Joint angle θu-Rotation vector ξ-Double-ended constraint (φx, φy, φz)-Gripper attitude ω-Angular velocity

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A low cost 3-DOF force sensing unit design for wrist rehabilitation robots

Cited by 22 publications

References 25 publications

An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush

An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush

Online path planning of pork cutting robot using 3D laser point cloud

输入受限的超冗余移动医疗机械臂混合控制

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