Minimal distance calculation between the industrial robot and its workspace based on circle/polygon-slices representation

Xu, Jingjing; Liu, Zhifeng; Zhang, Caixia; Yang, Congbin; Pei, Yanhu

doi:10.1016/j.apm.2020.06.012

Cited by 14 publications

(7 citation statements)

References 16 publications

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“…Then, the system performs the engagement and unfastening actions based on the calculated pose using a robot, which can effectively avoid problems existing in the previous studies. For the above steps, the motion planning of a robot is a significant task, which has been presented in the previous research on obstacle avoidance and other motion performance constraints [27]. Moreover, the camera pose adjustment, screw-tool engagement, and screw unfastening are the main problems considered in this study.…”

Section: Proposed Screw Unfastening Strategymentioning

confidence: 99%

A Novel Disassembly Strategy of Hexagonal Screws Based on Robot Vision and Robot-Tool Cooperated Motion

Chen

Liu

et al. 2022

Applied Sciences

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Disassembly plays an important role in the production process. Screw automatic unfastening guided by a robot has been widely used in the fields of industrial manufacturing and maintenance. Different from the previous studies that have used a flexible effector and expensive sensors, this paper presents a novel unfastening strategy based on robot vision for a hexagonal screw with an arbitrary loose state. In a robotic system, an industrial camera and a servo unfastening tool are installed at a robotic end-effector. The main contributions of this work are as follows. A camera pose adjustment method is proposed to obtain high-quality images of a target screw. The hexagonal screw pose calculation method based on the geometric analysis is developed to complete the screw–tool engagement. The cooperated motion of a robot and an unfastening tool is planned for the screw unfastening action. The effectiveness of the proposed control strategy is verified by experiments, and the influence of the motion speed on the unfastening quality is analyzed using the torque data collected by the unfastening tool. The analysis results can provide a significant foundation for the motion parameter selection in the proposed strategy.

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Section: Proposed Screw Unfastening Strategymentioning

confidence: 99%

A Novel Disassembly Strategy of Hexagonal Screws Based on Robot Vision and Robot-Tool Cooperated Motion

Chen

Liu

et al. 2022

Applied Sciences

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“…In this paper, a motion planning technique with hierarchical dimension reduction optimization of performance constraints is presented for mobile manipulators with continuous trajectory task. In this technique, our previous works 27,34…”

Section: Introductionmentioning

confidence: 99%

HCDR-based motion planning for mobile manipulators with the continuous trajectory task

Xu,

Tao,

Pei

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Mobile manipulators have been widely used in modern industrial fields due to their advantages of large operating workspace and high motion dexterity. For the application, the path planning has been a core foundation for its motion control. However, as the environmental complexity and performance requirements increase, existing methods are limited by low execution efficiency, and lack of comprehensive consideration of motion performances. A motion planning technique is proposed for mobile manipulators with continuous trajectory task. In this technique, a hierarchical constraints dimension reduction (HCDR) strategy is presented based on the task decomposition and performance requirements analysis of each stage. HCDR strategy aims to improve the execution efficiency of the algorithm through local operations of performance constraints and the local simplification of the distance calculation at different stages of the task. Models of inverse kinematics and performance indexes are established to provide basis for constraint conditions, including distance models with different accuracy, manipulability index model and trajectory tracing error model. Two optimization strategies are presented to solve the motion planning problem considering the overall performance of the system. And simulation results show that the three-level strategy has the higher convergence efficiency than the bi-level strategy, as well as can guarantee the motion performance of the system.

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“…For instance, in 14 a method is developed for the analytical calculation of the 3D shape and volume of volumes’ intersection in order to reconstruct 3D Positron Emission Tomography data. In Robotics geometrical information about configuration 15 , placement, collision 16 or proximity 17 among objects are major concerns. In 18 , an algorithm is proposed in order to avoid collisions between a manipulator and an obstacle.…”

Section: Introductionmentioning

confidence: 99%

Representing logic gates over Euclidean space via heaviside step function

Iacovelli

2022

Sci Rep

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Theoretical concepts asserted by Alan Turing are the basis of the computation and hence of machine intelligence. Turing Machine, the fundamental computational model, has been proven to be reducible to a logic circuit and, at the same time, portable into a computer program that can be expressed through a combination of fundamental programming language control structures. This work proposes a mathematical framework that analytically models logic gates employing Heaviside Step Function. The existence of a correspondence between a generic finite-time algorithm and the proposed mathematical formulation is proven. The proposed interpretation is given through a well-defined logical circuit analytical expression. Relevant geometrical applications, related to polygon processing, having wide implications in engineering branches are presented together with a new Penalty Method for constrained optimization problems handling. A detailed simulation campaign is conducted to assess the effectiveness of the applications derived from the proposed mathematical framework.

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Minimal distance calculation between the industrial robot and its workspace based on circle/polygon-slices representation

Cited by 14 publications

References 16 publications

A Novel Disassembly Strategy of Hexagonal Screws Based on Robot Vision and Robot-Tool Cooperated Motion

A Novel Disassembly Strategy of Hexagonal Screws Based on Robot Vision and Robot-Tool Cooperated Motion

HCDR-based motion planning for mobile manipulators with the continuous trajectory task

Representing logic gates over Euclidean space via heaviside step function

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