Robotic arm control system for mars rover analogue

Czaplicki, Piotr; Recko, Maciej; Tolstoj-Sienkiewicz, J.

doi:10.1109/mmar.2016.7575295

Cited by 7 publications

(2 citation statements)

References 3 publications

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“…Phantom system and improvement in arm's control resulted in several works [11][12][13] that constituted an introduction to the conducted research, part of which this article is. The ultimate idea is to create a two-arm system that would be carried like a backpack and could control up to two robotic arms.…”

Section: Research Problemmentioning

confidence: 99%

Robotic Arm Control Using Phantom Device

Recko

2017

PAR

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Zezwala się na korzystanie z artykułu na warunkach licencji Creative Commons Uznanie autorstwa 3.0 IntroductionRobots are no longer associated solely with robotic arms, performing pre-programmed tasks in factories. We can observe a shift in focus from industrial robots towards mobile platforms. Such devices have found a broad spectrum of applications among many different areas of industry, services, and science. Thanks to their versatility, it is common to find mobile robots exploring unreachable or even hostile environments. Machines are able to withstand uneasy conditions, survive extreme temperatures and pressure, even endure high radiation, and are ideal to substitute people in even the most unfriendly places.Although advanced artificial intelligence algorithms may relieve the operator from some of his/her duties [1], it is undeniable that, humans' ability to interpret and analyse various phenomena is indispensable. That is why our emissaries, depending on the complexity of the mission, sometimes may need to be remotely controlled. To do so, the operator needs means and tools to remotely and directly control an on-board equipment. Current trends in robotic arm control approachesNumerous international researchers are focused on simplifying robotic arm control. They try to address the complexity of robot programming or its direct control using traditional means i.e. teach pedant, joysticks, even command line prompts.During research, I came across various solutions to control problem. Researchers used different methods of motion capture and its conversion into control signals for manipulators. We can distinguish two leading approaches to this issue. Non-mechanical methods are mostly based on the use of image interpretation, computer vision, and various 3D sensors. Mechanical set-ups use mechanisms that translate joints movement into control signals using rotation or shift sensors embedded in its structure. One of the aforementioned approaches is using the 3D sensor. Many researchers favour Microsoft Kinect sensor. Originally built for Xbox game console, the device is capable of tracing limbs movement in real time. This feature results in easy to interpret data that can be used to control robotic arms [2,3]. Another widely used sensor is Leap motion. This device uses infrared mesh to detect objects directly above it and capture its movement [4]. Although such solutions allow natural and intuitive control over robotic arms, they lack in precision.Another solution to the control problem is utilising computer vision. A set of cameras is placed around controlling arm. They track hand's movements, using this information computer calculates coordinates in reference space. This data is used to control robotic arms [5,6]. This approach can aid [7] or be used on-its-own to control robotic arms [8]. However, vision-based control requires high processing power to obtain data needed to control the manipulator. It is also prone to disturbances like inadequate lighting resulting in inaccurate position estimation.Dissertation ...

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Section: Research Problemmentioning

confidence: 99%

Robotic Arm Control Using Phantom Device

Recko

2017

PAR

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“…The team of students has to build, program and test a Mars rover in the Martian-like environment. Several designs find their usage in the form of spin-off technologies or inspire their creators to develop science with their contributions (Czaplicki et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

CanSat mini-satellite project. Test procedure and mission implementation

2018

Engineering Mechanics

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The only limitation for human curiosity is our technological advancement. History has thought us that space exploration is one of the most significant driving force of human development. One of the means to explore the universe are artificial satellites. They can perform tasks unachievable for us. Construction of the satellite is very complicated and time-consuming process. Fortunately, several classes of satellites are distinguished. Entry level one-CanSat has similar dimensions to an ordinary soda can. The main subject of this paper is the construction of these type of satellites. Then all testing procedure and every part of the mission is described. At the end of the paper conclusions and suggestions for further development are expressed.

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Engineering based robot optimization methodology

Svejda

Myslivec

2019

IFAC-PapersOnLine

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Robotic arm control system for mars rover analogue

Cited by 7 publications

References 3 publications

Robotic Arm Control Using Phantom Device

Robotic Arm Control Using Phantom Device

CanSat mini-satellite project. Test procedure and mission implementation

Engineering based robot optimization methodology

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