Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism

Maaß, Jochen; Kohn, Nnamdi; Hesselbach, Jürgen

doi:10.5772/5763

Cited by 17 publications

(6 citation statements)

References 7 publications

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“…2 is (1) and the relative Jacobian of a dual-arm consisting of robots B and C in Fig. 2 is (2) Lastly, the relative Jacobian for dual-arm robots A and C is (3) Such that the wrench transformation matrix is defined as (4) and the rotation matrix is expressed as…”

Section: Derivation Of the Modular 3-arm Relative Jacobianmentioning

confidence: 99%

“…We express the above expression in terms of the relative Jacobians (12) In the second to the last equality of (12), we substitute the dual-arm relative Jacobians of (1) and (2). To further simplify, we group terms together, such that the modular relative Jacobian for a 3-arm parallel manipulator can be expressed as (13) where means that the wrench transformation matrix has the cross-product operator defined as .…”

Section: Derivation Of the Modular 3-arm Relative Jacobianmentioning

confidence: 99%

“…In particular, robots are no longer confined to single manipulators structures, but are now consisting of two or more manipulators combined together to form one single robot, like dual-arms, humanoids, quarupeds, hexapods, etc. Modular approach in the study of parallel robots has been used to many different types of applications, which include modular micro parallel robots [1], modular control architecture [2], modular design of parallel robots [3], kinematics and design of two variants [4], modular, wire-driven parallel robots [5], [6], design of modular parallel robots [7], multi-robot system ARGoS [8], and reconfigurable parallel robots [9], to name a few.…”

Section: Introductionmentioning

confidence: 99%

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Modular Relative Jacobian for Combined 3-Arm Parallel Manipulators

Jamisola¹,

Mastalli

Ibikunle

2016

IJMERR

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This work presents a new formulation of a modular relative Jacobian used to control combined manipulators as a single manipulator with a single effector. In particular, this modular relative Jacobian is designed for 3-arm parallel manipulators. It is called a relative Jacobian because it is expressed relative to the reference frames at the manipulator end-effectors. It is modular because it uses the existing information of each standalone manipulator component to arrive at the necessary expressions for the combined system. This work is part of a series of studies to express a single end-effector control of combined manipulators, in parallel as well as other types of base configurations. This holistic approach of controlling combined manipulators affords a drastic increase of the null-space dimension and the convenience to use all the principles of controlling a single manipulator for the resulting combined system. Derivation of the modular relative Jacobian for a 3-arm parallel manipulator is shown, together will simulation results.  Index Terms-modular kinematics, 3-arm parallel manipulators, single end-effector control, relative jacobian

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Section: Derivation Of the Modular 3-arm Relative Jacobianmentioning

confidence: 99%

Section: Derivation Of the Modular 3-arm Relative Jacobianmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modular Relative Jacobian for Combined 3-Arm Parallel Manipulators

Jamisola¹,

Mastalli

Ibikunle

2016

IJMERR

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“…sensor preevaluation, trajectory planning, position and force control, are encapsulated in different motion and sensor modules that are promising candidates for a distributed control approach. Details about the control core in its single PC version can be found in [12].…”

Section: Software Architecturementioning

confidence: 99%

Runtime Analysis and Adaptation of a Hard Real-Time Robotic Control System

Steiner¹,

Hagner²,

Goltz

2007

JCP

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The increasing complexity of technical systems often leads to problems when they are to be maintained, changed or extended. Nature inspired concepts like selfmanagement or self-organization have found their way into technical systems to overcome the complexity problems. In turn those systems exhibit beneficial self-* properties like self-optimization, self-healing or self-protection. This paper presents a software architecture for the control of parallel kinematic machines and its evolvement to a selfadaptive system that strives to optimize, protect and heal itself. A software engineering approach for the development of self-managing components is introduced that is supported by behavior validation in a specialized simulation environment. The first realization of a self-manager, responsible for the distribution of control components, is described in detail to show that self-management is feasible in robotic control. The self-manager uses formal analysis techniques during the runtime of the system to make sure it always conforms to its real-time requirements.

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“…Accuracy in driving of the end-effectors of the robots can be accomplished by tracking the desired path for each joint of robots by choosing the best closed loop controllers. In this chapter, systematic solutions are provided for the design of grasp and force control along with the support of visual servoing for controlling the hybrid robotic systems with the physical environment [6].…”

Section: Introductionmentioning

confidence: 99%

Physical Interaction and Control of Robotic Systems Using Hardware-in-the-Loop Simulation

Perumal¹,

Ganesan²

2020

Becoming Human With Humanoid - From Physical Interaction to Social Intelligence

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Robotic systems used in industries and other complex applications need huge investment, and testing of them under robust conditions are highly challenging. Controlling and testing of such systems can be done with ease with the support of hardware-in-the-loop (HIL) simulation technique and it saves lot of time and resources. The chapter deals on the various interaction methods of robotic systems with physical environments using tactile, force, and vision sensors. It also discusses about the usage of hardware-in-the-loop technique for testing of grasp and task control algorithms in the model of robotic systems. The chapter also elaborates on usage of hardware and software platforms for implementing the control algorithms for performing physical interaction. Finally, the chapter summarizes with the case study of HIL implementation of the control algorithms in Texas Instruments (TI) C2000 microcontroller, interacting with model of Kuka's youBot Mobile Manipulator. The mathematical model is developed using MATLAB software and the virtual animation setup of the robot is developed using the Virtual Robot Experimentation Platform (V-REP) robot simulator. By actuating the Kuka's youBot mobile manipulator in the V-REP tool, it is observed to produce a tracking accuracy of 92% for physical interaction and object handling tasks.

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Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism

Cited by 17 publications

References 7 publications

Modular Relative Jacobian for Combined 3-Arm Parallel Manipulators

Modular Relative Jacobian for Combined 3-Arm Parallel Manipulators

Runtime Analysis and Adaptation of a Hard Real-Time Robotic Control System

Physical Interaction and Control of Robotic Systems Using Hardware-in-the-Loop Simulation

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