Integrated sensor-based intelligent robot system

Tzafestas, Spyros G.

doi:10.1109/37.1876

Cited by 13 publications

(4 citation statements)

References 13 publications

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“…Flexible gripper fingers, due to the softness of the material and mechanical compliance, allow a reduction in control complexity and can be used wherever precise, force-intensive manipulations are not Through modularity, as with finger blanks, the whole finger can be adapted to a handling task by replacement. For example, interchangeable fingers were investigated early on in the research, applicable to microgrippers [13], two-and three-finger grippers [14], and grippers with integrated sensors [15]. In addition to taking into account the interchangeability of fingers for the use of application-specific gripper fingers, the number of fingers can also be changed via a standardized interface in order to increase gripping safety [16,17], especially with unknown objects, or to be able to use function-integrated fingers if required and to maintain them easily [18].…”

Section: Gripper Finger Typesmentioning

confidence: 99%

Automated Configuration of Gripper Fingers from a Construction Kit for Robotic Applications

Friedmann,

Klüpfel,

Frech

et al. 2023

Machines

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Gripper finger design is a complex process that requires a lot of experience, time, and effort. For this reason, automating this design process is an important area of research that has the potential to improve the efficiency and effectiveness of robotic systems. The current approaches are aimed at the automated design of monolithic gripper fingers, which have to be manufactured additively or by machining. This paper describes a novel approach for the automated design of gripper fingers. The motivation for this work stems from the increasing demand for flexible, adaptable handling systems in various industries in response to the increasing individualization of products as well as the increasing volatility in the markets. Based on the CAD data of the handling objects, the most suitable configuration of gripper fingers can be determined from the existing modules of a construction kit for the respective handling object, which can significantly reduce the provisioning time for new gripper fingers. It can be shown that gripper fingers can be effectively configured for a variety of objects and two different grippers, increasing flexibility in industrial handling processes.

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Section: Gripper Finger Typesmentioning

confidence: 99%

Automated Configuration of Gripper Fingers from a Construction Kit for Robotic Applications

Friedmann,

Klüpfel,

Frech

et al. 2023

Machines

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“…Moreover, it does not really follow a top-down hierarchical decomposition [94], which prevents the utilization of the hierarchical structure advantages. Some of these ideas, regarding CAD/CAM integration, have been considered and implemented in the ES-PRIT 278 project [99,100] which is concerned with the development of a sensor-based IRS for pick-and-place operations. However, the approach does not employ REPOS as a basic tool to overcome the encountered uncertainties.…”

Section: Hierarchy Generation and Task Assignment (Level Considerations)mentioning

confidence: 99%

An intelligent assembly robotic system based on Relative Pose measurements

Janabi–Sharifi

Wilson

1995

J Intell Robot Syst

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Abstract.One of the major problems in realizing intelligent assembly robotic systems has been the difficulty of compensating for uncertain and erroneous situations. In particular, pose (position and orientation) uncertainties lead to a challenging problem. In this paper, we outline a Relative Pose-based Strategy for effective dynamic end-pont control of manipulators in uncertain environments. The introduced strategy imposes new requirements on the higher levels of the control. Besides appropriate planning, control and sensing strategies, an advanced supervision system architecture needs to be provided. In this paper, the fundamental issues relating to intelligent assembly robotic system design are briefly discussed and an overall control architecture is introduced. The lower portions of the proposed architecture, viz. the Execution and the Supervisory Levels are described in detail.Key words. Relative pose-based strategy (REPOS), state estimation management, immediancy spectrum, intelligent assembly robotic system, control system, hierarchical control structure, layered control structure.

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“…8 It has been tried to implement the robot by integrating different types of sensors. 9 A sensor-based localization and navigation of a mobile robot was provided using ultrasonic sensors. 10 Furthermore, efficient sensor based methods for mobile robot navigation have been studied in detail.…”

Section: Introductionmentioning

confidence: 99%

Sensor-Based Autonomous Robot Navigation with Distance Control

Ullah¹,

Ullah²,

Ullah³

et al. 2012

J Comput Intel Electron Syst

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Intelligent systems to increase the road safety have been widely applied in the automotive sector; similarly, they have critical importance in the robotics to navigate the robot safely. This paper deals with an automatic distance control system, which helps to avoid collision between vehicles. We present an algorithm to maintain a distance between the robot and the object. It keeps the autonomous mobile robot at a safe distance from the object. It is implemented in a wheeled mobile robot to track the moving object. The surrounding information is obtained through the range sensors that are mounted at the front side of the robot. The central sensor gives instructions for the forward and backward motion, and the other sensors help for the left and right motion. To avoid collision, safety distance, which makes the movement easy in the out of range, stop, forward, and backward modes, is predefined in the mobile robot. Each time the range data is compared with the predefined distance measurements, and the respected function is activated. The robot is characterized due to low cost and simple control architecture. Different experiments were carried out in the indoor and outdoor environments with different objects. Simulation and experimental results have shown that the robot tracks the object correctly by maintaining a constant distance from the followed object.

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Integrated sensor-based intelligent robot system

Cited by 13 publications

References 13 publications

Automated Configuration of Gripper Fingers from a Construction Kit for Robotic Applications

Automated Configuration of Gripper Fingers from a Construction Kit for Robotic Applications

An intelligent assembly robotic system based on Relative Pose measurements

Sensor-Based Autonomous Robot Navigation with Distance Control

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