Mobile-robotic machining for large complex components: A review study

Tao, Bo; Zhao, Xingwei; Ding, Han

doi:10.1007/s11431-019-9510-1

Cited by 95 publications

(30 citation statements)

References 89 publications

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“…In practice, the most commonly used robotic system of this type is a holonomic arm mounted on a nonholonomic platform and therefore a, significant number of researches examine such mechanisms. The review study of mobile robots motion planning problems has been presented in [1]. Some of the works address the problem applying only kinematics, e.g.…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning for mobile manipulators with vibration reduction

Pająk¹

2021

J. vibroeng.

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A new method of online trajectory planning for mobile manipulators using the extended Jacobian approach, taking into account state and control constraints, allowing the mobile manipulator to reduce the arm vibrations is presented. The proposed approach is based on the concept of virtual control which scales the trajectory preventing robot controls from changing rapidly and ensuring that the control constraints are fulfilled. The simulation results presenting the features of the developed algorithm have been shown. The effectiveness of the method in vibration reduction is confirmed by an experiment involving a KUKA youBot mobile robot.

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Section: Introductionmentioning

confidence: 99%

Trajectory planning for mobile manipulators with vibration reduction

Pająk¹

2021

J. vibroeng.

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“…Unfortunately, the AIMM does not possess the high-precision absolute positioning characteristics without any auxiliary facilities. Survey [4] indicates the reason comes from two aspects: 1) The accuracy of robot arm is inevitably affected by factors such as machining and assembly errors. 2) The mobile platform is rarely able to achieve the desired destinations due to the inherent low movement accuracy of mobile platform.…”

Section: Introductionmentioning

confidence: 99%

“…The current global measuring equipment, such as vision camera and laser measuring equipment, have a decreasing relationship between the measurement accuracy and the measurement distance, so it is often costly to achieve high precision in a large space. On the other hand, if a global or distributed positioning device is used to directly position the end-effector (such as a commonly used visual servo solution) in real time, the workspace of end-effector will be constrained for avoiding the occlusion of the positioning signal during the movement of the robot arm [4]. • Propagation of Positioning Error.…”

Section: Introductionmentioning

confidence: 99%

On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy

et al. 2021

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Autonomous industrial mobile manipulator (AIMM), which is composed of a mobile platform and a robot arm of six degrees of freedom (DoFs), can move autonomously and perform dexterous tasks independently in the industrial environment. A novel on-line calibration system for AIMM in real manufacturing workshop is proposed in this paper. Compared to calibration scenarios of fixed-base robot, we focus on the large-space autonomous calibration for AIMM. To cope with the issue of high precision calibration in large space, we propose a multi-level guided-based measurement strategy, which includes the low-cost vision positioning and guidance system, and the high-precision distributed base station (BS) measurement system. The corresponding experiment proves that the total uncertainty of measurement system is less than 0.1 mm. Based on the measured data of end-effector installed at the end of robot arm, the AIMM can perform on-line calibration tasks anywhere automatically without taking into account the expensive devices for the high-precision location of mobile platform and the downtime for the robotic off-line calibration. The mean positioning error of AIMM after calibration reduces 93% based on the calibration experiment.

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“…With all-wheel independently steering and actuating features, the four-wheeled autonomous mobile robot (FAMR) is able to dynamically optimize its efficient pathways to achieve flexible and agile automation [4]- [5]. As shown in Figure 1, a practical FAMR is potential for transferring the workpieces between different machining units in manufacturing factories or mobile processing of large complex parts [6], [7]. Equipped with mecanum or omni wheels, the traditional FAMR ensures the wheels and rollers an active rotation to enable superb moving capability in arbitrary directions [8].…”

Section: Introductionmentioning

confidence: 99%

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

et al. 2020

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Profiting from its remarkable maneuverability and efficiency, the four-wheeled autonomous mobile robot (FAMR) is appealing for intelligent manufacturing and automation applications. However, the suppression of unknown disturbances and system uncertainties remains a challenge for formulating a precise trajectory-tracking control scheme. This paper achieves the anti-disturbance direct yaw moment control of a developed FAMR by proposing a robust super-twisting sliding mode controller (RSSMC) to enhance the dynamic tracking and disturbance rejection property simultaneously. One of the major contributions is that the presented RSSMC method is constructed with a novel reaching law to eliminate the matched perturbations and time-varying lumped disturbances. As another distinguishing feature, this method is capable of driving the resultant FAMR trajectory into a bounded switching region and maintaining it therein for subsequent periods in finite time. To guarantee the closed-loop stability and finite-time convergence, new sufficient conditions for specifying the variable gains are determined utilizing Lyapunov functions. Finally, under the direct yaw moment control framework, simulation experiments of a developed FAMR system are offered to verify the practicability of the RSSMC scheme.

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Mobile-robotic machining for large complex components: A review study

Cited by 95 publications

References 89 publications

Trajectory planning for mobile manipulators with vibration reduction

Trajectory planning for mobile manipulators with vibration reduction

On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

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