Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery

Kamezaki, Mitsuhiro; Hashimoto, Shinichi; Iwata, Hiroyasu; Sugano, Shigeki

doi:10.1109/aim.2010.5695941

Cited by 21 publications

(7 citation statements)

References 9 publications

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“…Evaluation of proposed measurement system 1) Experimental setup: To evaluate the performance of the proposed external force vector measurement system, we set up an instrumented hydraulic dual arm of a size equivalent to an industrial mini-hydraulic machine, as shown in Fig. 2 [9]. This machine has two manipulators, each with six degrees of freedom, including five single-rod hydraulic cylinders and one hydraulic motor.…”

Section: A External Force Vector Measurement Methodsmentioning

confidence: 99%

Relative accuracy enhancement system based on internal error range estimation for external force measurement in construction manipulator

Kamezaki

Iwata

Sugano

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper proposes a practical framework for measuring the external force applied to a construction manipulator (front load vector) by using a hydraulic sensor. Such a force measurement system requires high accuracy and robustness considering the uncertainty in the construction machinery field, but it inevitably includes measurement errors owing to difficult-to-reduce modeling errors. Our framework thus adopts a relative accuracy improvement strategy without correcting the models for the practicality. It comprises (i) quantifying the internal error range (IER) by using the sum of the maximal measurement errors of static and dynamic friction forces, which change in postural and kinematic conditions, (ii) calculating the error force vector by using IER to select cylinders (sensors) that have less error, and (iii) outputting the front load vector using the cylinders whose error force vector is minimum. Experiments were conducted using an instrumented hydraulic arm. The results indicate that our framework can enhance the relative accuracy of external force measurement independently of various postural and kinematic conditions.

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Section: A External Force Vector Measurement Methodsmentioning

confidence: 99%

Relative accuracy enhancement system based on internal error range estimation for external force measurement in construction manipulator

Kamezaki

Iwata

Sugano

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…1 [9]. This machine has two manipulators, each with six degrees of freedom, including five single-rod hydraulic cylinders and one hydraulic motor.…”

Section: A Experimental Setupmentioning

confidence: 99%

Operational support for ensuring safety object-removal using dual-arm construction machinery

Kamezaki

Shimada

Iwata

et al. 2012

2012 First International Conference on Innovative Engineering Systems

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This paper describes an operational support system to simplify removing objects from a building structure in demolition work using dual-arm construction machinery. An operator cannot recognize the manipulator movement visually when a target object is strongly restrained in an unmovable environment, so the operator continues large lever-operations for a while after the object has been removed. This could lead to a collision against the surrounding environment. An operational support in construction machinery filed requires the compatibility among efficiency, quality, and safety and the commonality among various operator skill levels. The proposed support system thus identifies the moment when an object has been removed and cancels any operational inputs to ensure safety work when generating intensive force applied to a manipulator, focusing only on the common physical phenomena. An object-removal flag is defined as a situation where force applied to the end-point of a manipulator decrease rapidly in which lever operation and hand load are detected. Demolition experiments are conducted using a hydraulic dual arm system. Result indicates that the displacement of endeffector after removal and the number of error contacts are decreased while decreasing time consumption.

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“…[27] This machine had two manipulators, each with six degrees of freedom. An operator controlled the joints by maneuvering two control levers that sent electrical signal commands.…”

Section: Instrumented Experimental Setupmentioning

confidence: 99%

A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

2014

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A practical operator support system for disaster response work using construction machinery is applied to object-break operations using a dual-arm machine. An object-break operation, which separates an object into two different parts by applying massive pulling force, requires skillful force and trajectory controls. Operators typically have trouble visually perceiving the movement of the manipulator because the target object is strongly restrained. As a result, after the object has been separated into two pieces, the operator may continue performing lever operations because of unavoidable perception reaction time and the manipulator may collide with the surrounding environment. A control input cancellation system based on object-break identification is proposed to reduce the time difference between the object break and operation stoppage. A support system for disaster response situations must be safe and efficient and accommodate operators with various skill levels; thus, common physical phenomena related to the object breakage should be exploited. The system cancels control inputs to stop the movement of the manipulator when an object-break flag is detected, which is defined as a situation where the force applied to each joint of a manipulator decreases rapidly when a lever operation and load on the inside of the grapple are detected. Demolition experiments were conducted using a hydraulic dual-arm system. The results indicate that the displacement of the end-point after the object breaks is greatly decreased and the completion time of the task is reduced as well.

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Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery

Cited by 21 publications

References 9 publications

Relative accuracy enhancement system based on internal error range estimation for external force measurement in construction manipulator

Relative accuracy enhancement system based on internal error range estimation for external force measurement in construction manipulator

Operational support for ensuring safety object-removal using dual-arm construction machinery

A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

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