Autonomous industrial tank floor inspection robot

Lee, Wun Chen; Salam, Abdullah Syafiq Abdul; Ibrahim, Mohd Faisal; Rahni, Ashrani Aizzuddin Abd; Mohamed, Abdullah Zawawi

doi:10.1109/icsipa.2015.7412238

Cited by 5 publications

(2 citation statements)

References 1 publication

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“…Ambientes industriais em sua maioria oferecem riscos aos operadores, seja em atividades de produção ou manutenção. Com o objetivo de minimizar esses riscos, há trabalhos que desenvolvem soluções robóticas para substituir o ser humano na realização de tarefas [Lee et al 2015]; outros, apresentam técnicas de projeto para minimizar riscos em ambientes com alta periculosidade [Parikh et al 2011, Srinivasan et al 2018, Leon-Rodriguez et al 2013.…”

Section: Ambientes Insalubres Em Processos Produtivos Industriaisunclassified

Cinemática Inversa Aplicada a Manipulador Robótico a Partir de Coordenadas Capturadas pelo Microsoft Kinect

Batista¹

2020

Anais Da VIII Escola Regional De Informática De Goiás (ERI-GO 2020)

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Em muitos processos produtivos industriais, os operadores das plantas industriais normalmente são expostos a riscos que podem comprometer a saúde e a segurança no trabalho. Este artigo apresenta uma proposta de sistema para mitigação desses riscos, utilizando manipulador robótico associado ao Microsoft Kinect, que é empregado de forma a obter as coordenadas cartesianas das articulações do braço do operador e, remotamente, aplicando cinemática inversa, atuar em um manipulador robótico que realiza o trabalho do operador e, minimizar potenciais riscos. Observou-se que o braço robótico apresentou resultado satisfatório nos quesitos de tempo de resposta e posicionamento, entretanto melhorias são necessárias na estabilidade.

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Section: Ambientes Insalubres Em Processos Produtivos Industriaisunclassified

Cinemática Inversa Aplicada a Manipulador Robótico a Partir de Coordenadas Capturadas pelo Microsoft Kinect

Batista¹

2020

Anais Da VIII Escola Regional De Informática De Goiás (ERI-GO 2020)

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“…Such population differences have become more apparent every year, raising the concerns of various professional community from aspects of engineering, healthcare and social sciences. Today, many studies have shown a wide adoption of robot technology used in manufacturing [1], agriculture [2], communication [3], and education [4,5]. In the line of 4IR, there is demand for one system that can control, communicate and integrate different robots regardless of their types and specifications.…”

Section: Introductionmentioning

confidence: 99%

Robot Arm Analysis based on Master Device Pneumatic Actuators

Aliff¹,

Samsiah²

2019

IJACSA

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Advances in technology have expanded the use of soft actuators in various fields especially in robotics, rehabilitation and medical field. Soft actuator development provides many advantages, primarily being simple structures, high power to weight ratio, good compliance, high water resistance and low production cost. However, most soft actuators suffer the problem of being oversized which could potentially hurt users as it is often made of hard materials such as steels and hard rigid plastics. Current drawbacks of soft actuator implementation in robotic arms are on its excessive weights, causing these robots to be difficult to set up by patients themselves which in turn makes it less applicable for home rehabilitation training program. Hence, there is a need to design a soft actuator which is safe and more flexible, especially for applications in areas of patients in rehabilitation area or in-house rehabilitation program. In this paper, we propose the design of robot arm using master device pneumatic actuator and analyse the implementation for the above purpose. The system comprises primarily of the master and slave arms, two accelerometers and two potentiometers providing references for attitude control, six quasi-servo valves, and SH-7125 microcontroller. Our proposed design exhibits functions of the actuator that has been generated from elastic deformation of extension and contraction of the cylinder structure when high pneumatic pressure is supplied to the chamber. The control performance of the device is investigated using simulation method, whereby the rational model of the robot arm and the quasi servo valve with the embedded controller is implemented and analysed. It is found that the analysed results of the model approved well with the desired values.

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Autonomous Industrial Ambient Robotic System

Shams

Labiba

2020

2020 Fourth International Conference on I-Smac (IoT in Social, Mobile, Analytics and Cloud) (I-Smac)

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Autonomous industrial tank floor inspection robot

Cited by 5 publications

References 1 publication

Cinemática Inversa Aplicada a Manipulador Robótico a Partir de Coordenadas Capturadas pelo Microsoft Kinect

Cinemática Inversa Aplicada a Manipulador Robótico a Partir de Coordenadas Capturadas pelo Microsoft Kinect

Robot Arm Analysis based on Master Device Pneumatic Actuators

Autonomous Industrial Ambient Robotic System

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