Infrastructure Robotics: Research Challenges and Opportunities

Liu, Dikai; Dissanayake, Gamini; Miró, Jaime Valls; Waldron, Kenneth J.

doi:10.22260/isarc2014/0007

Cited by 5 publications

(7 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…-q 2 ∈ R n are joint accelerations defining a secondary, redundant task to be achieved only afterẍ is satisfied, -W ∈ R n×n is a positive-definite weighting matrix, -J † W = W −1 J T JW −1 J T −1 is the weighted, pseudoinverse Jacobian, and -N W = I − J † W J is the weighted null space matrix. Note that multiplying (7) through by the Jacobian results in Jq =ẍ −Jq, and hence the kinematic relationship in Eq. 4 is preserved.…”

Section: Serial-link Manipulator Kinematicsmentioning

confidence: 99%

“…From a desired joint acceleration (7), the subsequent joint torques can be calculated from the manipulator dynamics:…”

Section: Manipulator Dynamicsmentioning

confidence: 99%

“…In [10], a control method was proposed to locally minimize kinetic energy needed to control a redundant manipulator, as well as keep joint torques in the middle of its performance range. This resulted in the secondary redundant taskq 2 (7) as follows:…”

Section: Torque Minimization In the Null Spacementioning

confidence: 99%

“…The mass of the manipulator was also raised as an issue, due to the frequency with which it had to be repositioned in the environment [6]. Some research had been conducted in anticipation of these large payload forces [7], but the solution did not translate easily to industrial robotic manipulators.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces

Woolfrey

Liu

2019

J Intell Robot Syst

View full text Add to dashboard Cite

In this paper, a control method is developed for minimizing joint torque on a redundant manipulator where an external force acts on the end-effector. Using null space control, the redundant task is designed to minimize the torque required to oppose the external force, and reduce the dynamic torque. Furthermore, the joint motion can be weighted to factor in physical constraints such as joint limits, collision avoidance, etc. Conventional methods for joint torque minimization only consider the internal dynamics of the manipulator. If external forces acting on the end-effector are inadvertently implemented in to these control methods this could lead to joint configurations that amplify the resulting joint torque. The proposed control method is verified through two different case studies. The first case study involves simulation of high-pressure blasting. The second is a simulation of a manipulator lifting and moving a heavy object. The results show that the proposed control method reduces overall joint torque compared to conventional methods. Furthermore, the joint torque is minimized such that there is potential for a manipulator to execute certain tasks beyond its nominal payload capacity.

show abstract

Section: Serial-link Manipulator Kinematicsmentioning

confidence: 99%

“…From a desired joint acceleration (7), the subsequent joint torques can be calculated from the manipulator dynamics:…”

Section: Manipulator Dynamicsmentioning

confidence: 99%

Section: Torque Minimization In the Null Spacementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces

Woolfrey

Liu

2019

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…It is very challenging (Liu et al 2014) and costly to inspect surfaces ( Fig. 1), which are not easily accessible, such as building walls or bridge pillars.…”

Section: Introductionmentioning

confidence: 99%

Wall-climbing robot for non-destructive evaluation using impact-echo and metric learning SVM

Ushiroda

Yang

et al. 2017

Int J Intell Robot Appl

View full text Add to dashboard Cite

The impact-echo (IE) acoustic inspection method is a non-destructive evaluation technique, which has been widely applied to detect the defects, structural deterioration level, and thickness of plate-like concrete structures. This paper presents a novel climbing robot, namely Rise-Rover, to perform automated IE signal collection from concrete structures with IE signal analyzing based on machine learning techniques. Rise-Rover is our new generation robot, and it has a novel and enhanced absorption system to support heavy load, and crawler-like suction cups to maintain high mobility performance while crossing small grooves. Moreover, the design enables a seamless transition between ground and wall. This paper applies the fast Fourier transform and wavelet transform for feature detection from collected IE signals. A distance metric learning based support vector machine approach is newly proposed to automatically classify the IE signals. With the visual-inertial odometry of the robot, the detected flaws of inspection area on the concrete plates are visualized in 2D/3D. Field tests on a concrete bridge deck demonstrate the efficiency of the proposed robot system in automatic health condition assessment for concrete structures.

show abstract

A Comparative Survey of Climbing Robots and Arboreal Animals in Scaling Complex Environments

Jusufi

Liu

2019

Mechanisms and Machine Science

View full text Add to dashboard Cite

Infrastructure Robotics: Research Challenges and Opportunities

Cited by 5 publications

References 32 publications

A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces

A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces

Wall-climbing robot for non-destructive evaluation using impact-echo and metric learning SVM

A Comparative Survey of Climbing Robots and Arboreal Animals in Scaling Complex Environments

Contact Info

Product

Resources

About