Robotic Dough Shaping

Ondras, Jan; Ni, Di; Deng, Xiaotie; Gu, Zeqi; Zheng, Hongyu; Bhattacharjee, Tapomayukh

doi:10.23919/iccas55662.2022.10003767

Cited by 2 publications

(5 citation statements)

References 27 publications

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“…It's physical dimensions are shown in figure (2), weighing around 6.2Ibs. The Dynamixel XL430-W250T comprised as illustrated in table (3). The parameters for each joint used in this work are given in table (2).…”

Section: Resultsmentioning

confidence: 99%

“…used by authors translates a robot manipulation mathematical model. The structure of the xsarm is shown in figure (3).…”

Section: Grippermentioning

confidence: 99%

“…In summary, the IK challenge of the robot was to determine the values of the joint positions given the EE's position and orientation. Because of its advantages such as (high efficiency, accurately repeated movements, and carrying capacity), the robotic arm system was widely utilized in processing product transportation, production, domestic services, and others [2,3]. Wasit university recently purchased a Trossen Robotics Window X 250-6 DoF robotic arm.…”

Section: Introductionmentioning

confidence: 99%

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Visualizing Kinematics: Investigating the Impact of Altered Joint Angles on End-Effector Position and Orientation using Rviz and WidowX250-6DOF

Ali,

Dr. Manaf H.Kadhum,

Dr. Ali Fawzi AbdulKareem

2024

ejuow

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In recent years, the fields of robotics have witnessed major developments, and simulation tools have played an important role in facilitating research and development. The WidowX250-6DOF robotic arm and the Rviz visualization tool are used in this study to look at how altering joint angles affects the position and orientation of the end-effector. The main goal of this study is to incorporate ROS on a Linux platform in order to give the widowX-250 a simulation environment. Important tasks like the application of forward, position/trajectory control and inverse kinematics should be enabled by this platform. ROS, together with Gazebo, RViz, and MoveIt, are crucial technologies for this project. The goal of this research is to gain a better understanding of how variations in joint angles impact the positioning and orientation of the robot's end-effector. The research helps to improve robotic arm control tactics and applications in many different industries, including manufacturing, automation, and robotics.

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Section: Resultsmentioning

confidence: 99%

“…used by authors translates a robot manipulation mathematical model. The structure of the xsarm is shown in figure (3).…”

Section: Grippermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Visualizing Kinematics: Investigating the Impact of Altered Joint Angles on End-Effector Position and Orientation using Rviz and WidowX250-6DOF

Ali,

Dr. Manaf H.Kadhum,

Dr. Ali Fawzi AbdulKareem

2024

ejuow

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“…Molds have been fabricated by iteratively stamping a clay block into the desired shape based on a heuristic [17]. Another work uses a roller to shape clay-like material to fit a target 2D contour [18]. Material is moved outwards from the point with the largest material excess.…”

Section: A Related Workmentioning

confidence: 99%

“…As heuristics have been popular for planning in related literature, we propose two heuristics to evaluate as baselines. High-to-low is inspired by existing works [18], [19]. Strips is proposed by us specifically for plaster trowelling:…”

Section: Heuristic-based Baselinesmentioning

confidence: 99%

PLASTR: Planning for Autonomous Sampling-Based Trowelling

Kuhlmann-Jørgensen,

Pankert,

Pietrasik

et al. 2023

IEEE Robot. Autom. Lett.

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Plaster is commonly used in the construction industry to finish walls and ceilings, but the application is labor-intensive and physically strenuous, which motivates the need for automation. We present PLASTR, a receding horizon optimization-based planning algorithm for robotic plaster trowelling. It samples trowelling sequence rollouts from a new plaster simulator and weights them according to the flatness of the finished wall. The proposed simulator approximates the real-world plastertrowel interaction adequately while allowing execution orders of magnitude faster than real-time. We evaluate PLASTR in simulation and on a real-world test setup and compare it to two handcrafted heuristic baseline algorithms. PLASTR performs equal to or better than the best heuristic in terms of material coverage for both simulated and real-world experiments while being 50 % more efficient in terms of trowelled distance.

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Robotic Dough Shaping

Cited by 2 publications

References 27 publications

Visualizing Kinematics: Investigating the Impact of Altered Joint Angles on End-Effector Position and Orientation using Rviz and WidowX250-6DOF

Visualizing Kinematics: Investigating the Impact of Altered Joint Angles on End-Effector Position and Orientation using Rviz and WidowX250-6DOF

PLASTR: Planning for Autonomous Sampling-Based Trowelling

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