Modeling and control of a mechatronics system served by a mobile platform equipped with manipulator

Filipescu, Adrian; Petrea, George; Filipescu, Silviu

doi:10.1109/chicc.2014.6896078

Cited by 10 publications

(5 citation statements)

References 10 publications

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“…The P/R operations can be broken down into a sequence of elementary tasks coupled in parallel with work-piece positioning tasks along the work station, as in [6,8,12]. The hybrid processing/reprocessing strategy is based on the hierarchical model proposed in [6][7][8]22], which uses a block diagram representation shown in Figure 4. ARSs carry the work-piece that fails the quality test from the place where it is stored (last station of P/RML to the initial position (first station of P/RML) for reprocessing.…”

Section: Task Planning Of P/rmlmentioning

confidence: 99%

“…These distances are covered by the ARSs between the last workstation (storage workstation) and the first station (transport workstation) of the P/RML. For modelling, we will use the SHPN tool, [12,16], which integrates the discrete aspect of P/RML with the continuous aspect of ARSs displacement likes is shown in [6][7][8][9]. The global model is of the SHPN type because it is interfaced with external events for synchronization, the events being signals coming from sensors and VSSs.…”

Section: Structure Of the Shpn Modelmentioning

confidence: 99%

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Manufacturing Technology on a Mechatronics Line Assisted by Autonomous Robotic Systems, Robotic Manipulators and Visual Servoing Systems

2020

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This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing systems (VSSs). The P/RML has four line-shaped workstations assisted by two ARSs—wheeled mobile robots (WMRs): one of them equipped with an RM, used for manipulation, and the other one used for transport. Two types of VSSs—eye to hand and eye in hand—are used as actuators for precise positioning of RMs to catch and release the work-piece. The work-piece visits stations successively as it is moved along the line for processing. If the processed piece does not pass the quality test, it is taken from the last stations of the P/RML and it is transported to the first station where it will be considered for reprocessing. The P/RML, assisted by ARSs, RMs and VSSs, was modelled with the synchronized hybrid Petri nets (SHPN). To control the ARSs, we propose the use of trajectory-tracking and sliding-mode control (TTSMC). The precise positioning that allows the picking up and releasing of the work-piece was performed using two types of VSSs. In the case of the first one, termed eye to hand VSS, the cameras have a fixed position, located at the last and the first workstations of the P/RML. For the second one, named eye in hand VSS, the camera is located at the end effector of the RM.

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Section: Task Planning Of P/rmlmentioning

confidence: 99%

Section: Structure Of the Shpn Modelmentioning

confidence: 99%

Manufacturing Technology on a Mechatronics Line Assisted by Autonomous Robotic Systems, Robotic Manipulators and Visual Servoing Systems

2020

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“…For this, the processing/reprocessing planning also requires complex operations to be performed such as performance measurement and evaluation, kinematics control, system planning, and resources management. For a P/RML assisted by CAS, a preparing strategy adapted to the characteristics of the system is more effective than the techniques used from domainindependent methods [6][7][8][9][10][11]. If the final workpiece does not pass the quality test, the task planner will provide the optimal sequence to reprocess the product.…”

Section: Introductionmentioning

confidence: 99%

“…An important factor for a MVS is the visual features selection, which is related to the speed, accuracy, and performance that control the movement of a RM, taking into consideration the degrees of freedom as shown in [10,18,19].…”

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confidence: 99%

Mobile Visual Servoing Based Control of a Complex Autonomous System Assisting a Manufacturing Technology on a Mechatronics Line

et al. 2022

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The main contribution of this paper is the modeling and control for a complex autonomous system (CAS). It is equipped with a visual sensor to operate precision positioning in a technology executed on a laboratory mechatronics line. The technology allows the retrieval of workpieces which do not completely pass the quality test. Another objective of this paper is the implementation of an assisting technology for a laboratory processing/reprocessing mechatronics line (P/RML) containing four workstations, assisted by the following components: a complex autonomous system that consists of an autonomous robotic system (ARS), a wheeled mobile robot (WMR) PeopleBot, a robotic manipulator (RM) Cyton 1500 with seven degrees of freedom (7 DOF), and a mobile visual servoing system (MVS) with a Logitech camera as visual sensor used in the process of picking, transporting and placing the workpieces. The purpose of the MVS is to increase the precision of the RM by utilizing the look and move principle, since the initial and final positions of the CAS can slightly deviate from their trajectory, thus increasing the possibility of errors to appear during the process of catching and releasing the pieces. If the processed piece did not pass the quality test and has been rendered as defective, it is retrieved from the last station of the P/RML and transported to the first station for reprocessing. The control of the WMR is done using the trajectory-tracking sliding-mode control (TTSMC). The RM control is based on inverse kinematics model, and the MVS control is implemented with the image moments method.

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“…The code was tested against experimental data produced at the NewSUBARU facility and the analysis along with a complete description of the code will be included in [10]. At NewSUBARU, the laser-electron interaction takes place inside a 20 metres long straight section of the storage ring and the γ-ray beam is taken outside to the experimental hutch.…”

Section: Introductionmentioning

confidence: 99%

Geant4 simulations on Compton scattering of laser photons on relativistic electrons

Filipescu

Utsunomiya

Gheorghe³

et al. 2015

AIP Conference Proceedings

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Abstract. Using Geant4, a complex simulation code of the interaction between laser photons and relativistic electrons was developed. We implemented physically constrained electron beam emittance and spacial distribution parameters and we also considered a Gaussian laser beam. The code was tested against experimental data produced at the γ-ray beam line GACKO (Gamma Collaboration Hutch of Konan University) of the synchrotron radiation facility NewSUBARU. Here we will discuss the implications of transverse missallignments of the collimation system relative to the electron beam axis.

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Modeling and control of a mechatronics system served by a mobile platform equipped with manipulator

Cited by 10 publications

References 10 publications

Manufacturing Technology on a Mechatronics Line Assisted by Autonomous Robotic Systems, Robotic Manipulators and Visual Servoing Systems

Manufacturing Technology on a Mechatronics Line Assisted by Autonomous Robotic Systems, Robotic Manipulators and Visual Servoing Systems

Mobile Visual Servoing Based Control of a Complex Autonomous System Assisting a Manufacturing Technology on a Mechatronics Line

Geant4 simulations on Compton scattering of laser photons on relativistic electrons

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