A Mobile Extendable Robot Arm: Singularity Analysis and Design

Teshigawara, Seiichi; Asada, H. Harry

doi:10.1109/iros40897.2019.8967768

Cited by 17 publications

(3 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The task of the robot and its position implies to reach some workpiece surface points close to wrist robot's singularities. To avoid this singularity, the polishing tool has been designed turning its Tool Centre Point (TCP) with 45 degrees inclination, following ideas presented in [29] [30]. The wrist singularity appears when the axis 4 and the axis 6 become aligned.…”

Section: Design and Implementation Of The Collaborative Toolmentioning

confidence: 99%

Cooperative human-robot polishing for the task of patina polishing on high-quality leather shoes

Pérez-Vidal¹,

Méndez

González³

et al. 2022

Preprint

View full text Add to dashboard Cite

A patina is essentially the weathered look a piece of leather takes on as it ages. The patina finishing aspect can be also generated or grown artificially by scrubbing the leather surface with specific products. This research proposes a novel solution for bringing over automation to grow patina on leather footwear manufacturing using a new co-creative method based on cooperative robotics. These kinds of manual finishing operations on small objects are delicate and regularly need slight modifications carried out by skilled artisans, which adds complexity to the process automation and implies various key aspects to consider. This novel solution includes the design and implementation of a collaborative tool specially designed to grow patina finishing on shoe surface. The system accelerates the process in pursuit of time-saving without disregarding the work finishing quality. For this purpose, the use of a collaborative robot with a built-in constant contact force control is used in this research, together with an existing software function for manual path recording. The use of both tools in complementarity with the knowledge of the craftsman leads the robot end-effector adaptation to the inherent curved-surfaces over the shoe. Besides, some path corrections and tool orientation improvements are suggested based on data from a CAD model for the task to be accurately accomplished. This work presents a novel approach for automatic and semi-automatic shoe patina growing in the footwear industry. The solution has been successfully integrated in a real production line and it is currently in use.

show abstract

Section: Design and Implementation Of The Collaborative Toolmentioning

confidence: 99%

Cooperative human-robot polishing for the task of patina polishing on high-quality leather shoes

Pérez-Vidal¹,

Méndez

González³

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

“…Although continuum robots with rigid elements in the backbone have been studied [16], [17], they are not stretchable. In contrast, extendable rigid mechanisms, including pantographs [18], telescopic cylinders [19], and selflocking joints [20], have high payloads, but are restricted in their bending motions due to their stiffness. Attempts have been made to build an origami-inspired extendable robot that consists entirely of rigid parts to overcome bending limitations [21].…”

Section: Introductionmentioning

confidence: 99%

A Woodpecker’s Tongue-Inspired, Bendable and Extendable Robot Manipulator With Structural Stiffness

Matsuda

Mavinkurve

Kanada

et al. 2022

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

Woodpeckers have flexible and extendable tongues that they use to reach their prey through tiny openings in trees and insect burrows. This unique capability of their tongue represents a promising design for a tool for picking up and handling objects in unstructured environments. Although continuum robots can produce dexterous movements because of their few shape constraints, the lack of structural stiffness has restricted their deployment in real-world environments. Inspired by the characteristics of woodpeckers, we designed a robot manipulator that can substantially extend its length and bend its shape in 2D space. This behavior is enabled by a backbone consisting of a chain of rigid joints and two flexible rack gears. The joints increase the payload by structurally supporting the robot. The proposed structure is 4.7 times stronger in vertical bending and 6.2 times stronger in torsion than without rigid links. Feeding the rack gears at the same and different speeds allows the robot to elongate and bend, respectively. We developed a geometric model based on a constant curvature model for motion planning. Experiments show that the robot can follow an arbitrary trajectory at an arbitrary tip angle. Lastly, we showcase various demonstrations, including deployment and storage for the backbone, follow-the-leader (FTL) motion, and whole-arm grasping in the horizontal plane.

show abstract

“…loss of or limited motion capabilities of the robot end-effector and infeasible joint velocity commands, is a major difficulty for robot manipulators. Particular approaches to solve kinematic singularities such as Jacobian matrix using filtered inverse [3], trajectory planning [4,5], genetic algorithm [6], configuring redundancy resolution [7], singularity analysis [8], artificial potential fields [9], and so on.…”

mentioning

confidence: 99%

Distributed Path Planning Classification with Web-based 3D Visualization using Deep Neural Network for Internet of Robotic Things

Iklima¹,

Kadarina²

2021

JST

View full text Add to dashboard Cite

Internet of Robotic Things (IoRT) distributes heterogeneous intelligences among devices and platforms. A distributed control of a three-degree-of-freedom (3-DOF) robot manipulator is integrated with web-based 3D visualization. An asynchronous protocol was utilized to broadcast kinematic data of a 3-DOF robot manipulator between platforms. However, kinematic data computed using inverse kinematic equations directly cannot identify the singularity issue of robot manipulator. Singularity avoidance required to prevent robot component or joint from damage. Therefore, this study proposed a deep neural network approach as a classification-based of manipulator robot path planning to avoid singularity issues. Deep neural network (DNN) was trained in 12 minutes, 52 seconds in 500 iterations. Training accuracy measured with value 96,23 percent, validation accuracy measured with value 96,13 percent, and testing accuracy measured with value 96,48 percent Additionally, 3 DOF manipulator robot web-based 3D visualization was made using Web Graphics Library (WebGL). The distributed platform was tested successfully and can distribute and classify 2352 motions per second.

show abstract

A Mobile Extendable Robot Arm: Singularity Analysis and Design

Cited by 17 publications

References 12 publications

Cooperative human-robot polishing for the task of patina polishing on high-quality leather shoes

Cooperative human-robot polishing for the task of patina polishing on high-quality leather shoes

A Woodpecker’s Tongue-Inspired, Bendable and Extendable Robot Manipulator With Structural Stiffness

Distributed Path Planning Classification with Web-based 3D Visualization using Deep Neural Network for Internet of Robotic Things

Contact Info

Product

Resources

About