Semi-autonomous shared control of large-scale manipulator arms

Hansson, Anders; Servin, Martin

doi:10.1016/j.conengprac.2010.05.015

Cited by 51 publications

(30 citation statements)

References 7 publications

(9 reference statements)

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“…Semi-autonomous cranes are supervised by human operators but have some automated tasks in their work cycles. Shared control allows the operator to adjust or control the task without interrupting it (Hansson and Servin 2010), thereby guaranteeing that the operator can take full control of the automated tasks. Planting machine tasks relevant for automating are mounding and crane movement between spatially suitable planting spots within the working area.…”

Section: Introductionmentioning

confidence: 99%

Simulated productivity of one- and two-armed tree planting machines

Ersson¹,

Jundén²,

Bergsten³

et al. 2013

Silva Fenn.

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Simulated productivity of one-and two-armed tree planting machinesErsson B. T., Jundén L., Bergsten U., Servin M. (2013). Simulated productivity of one-and two-armed tree planting machines. Silva Fennica vol. 47 no. 2 article id 958. 23 p. Highlights• Using discrete-event simulation and detailed terrain and machine models, the productivities of excavator-based one-and two-armed tree planting machines were simulated.• The machines' arms were equipped with one-and two-headed planting devices.• Two planting heads per arm rather than two arms per base machine is better for increasing the productivity of intermittently advancing planting machines on Nordic clearcuts. AbstractTo increase mechanized planting, planting machine productivity must increase in order to improve cost-efficiency. To determine if excavators with two crane arms could potentially help to increase planting machine productivity under Nordic clearcut conditions, we modelled one-armed and semiautomated two-armed excavators with one-and two-headed planting devices. Using a recently developed tool for discrete-event simulation, these machine models then mounded and planted seedlings on terrain models with moraine soil having various frequencies of obstacles (stumps, roots and stones). Compared to if the two heads were mounted pairwise on only one arm, the results showed that productivity did not increase if two planting heads were attached individually to two separate crane arms. But productivity did increase if the planting machine had four planting heads mounted pairwise on two separate arms. However, despite assuming automated mounding and crane motion between planting spots, the two-armed, four-headed model never achieved high enough productivity levels to make it more cost-efficient than one-armed machines. The simulations illustrate that our terrain models generate realistic root architecture and boulder content distributions in moraine soil, while our machine models functionally describe mechanized planting work. Based on our assumptions, we conclude that further development work on two-armed excavator-based planting machines for Nordic clearcut conditions is not warranted. Our simulations reveal that increasing the number of planting heads per crane arm rather than number of crane arms per base machine offers the greatest potential to raise the productivity of intermittently advancing planting machines.

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Section: Introductionmentioning

confidence: 99%

Simulated productivity of one- and two-armed tree planting machines

Ersson¹,

Jundén²,

Bergsten³

et al. 2013

Silva Fenn.

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“…1, which show the case of semi-autonomous control of manipulator arms [3] in Fig. 1(a) and a generic diagram for optical microrobotics in 1(b)).…”

Section: Introductionmentioning

confidence: 99%

Micromanipulation and microfabrication for optical microrobotics

et al. 2012

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Robotics can use optics feedback in vision-based control of intelligent robotic guidance systems. With light's miniscule momentum, shrinking robots down to the microscale regime creates opportunities for exploiting optical forces and torques in microrobotic actuation and control. Indeed, the literature on optical trapping and micromanipulation attests to the possibilities for optical microrobotics. This work presents an optical microrobotics perspective on the optical microfabrication and micromanipulation work that we performed. We designed different three-dimensional microstructures and fabricated them by two-photon polymerization. These microstructures were then handled using our biophotonics workstation (BWS) for proof-of-principle demonstrations of optical actuation, akin to 6DOF actuation of robotic micromanipulators. Furthermore, we also show an example of dynamic behavior of the trapped microstructure that can be achieved when using static traps in the BWS. This can be generalized, in the future, towards a structural shaping optimization strategy for optimally controlling microstructures to complement approaches based on lightshaping. We also show that light channeled to microfabricated, free-standing waveguides can be used not only to redirect light for targeted delivery of optical energy but can also for targeted delivery of optical force, which can serve to further extend the manipulation arms in optical robotics. Moreover, light deflection with waveguide also creates a recoil force on the waveguide, which can be exploited for controlling the optical force.

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“…desired motion), while the operator changes the robot's main task guaranteeing adaptive feedback and experience. 9,34 Taking into account the features owned by industrial robots, this article describes the SCAIRPs as a general purpose design for SC applications. SCAIRP is mainly based on the following considerations:…”

Section: Sc Algorithmmentioning

confidence: 99%

“…Moreover, both inexperienced and professional operators are expected to benefit from an SC approach. 34 The aim of the research shown in this article was to design a new algorithm for industrial robotics processes using the SC approach. In particular, the algorithm can be used as a model to design any number of industrial processes involving robots.…”

Section: Introductionmentioning

confidence: 99%

A novel shared control algorithm for industrial robots

Ramacciotti

Milazzo

Leoni

et al. 2016

International Journal of Advanced Robotic Systems

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Human management of robots in many specific industrial activities has long been imperative, due to the elevated levels of complexity involved, which can only be overcome through long and wasteful preprogrammed activities. The shared control approach is one of the most emergent procedures that can compensate and optimally couple human smartness with the high precision and productivity characteristic to mechatronic systems. To explore and to exploit this approach in the industrial field, an innovative shared control algorithm was elaborated, designed and validated in a specific case study.

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Semi-autonomous shared control of large-scale manipulator arms

Cited by 51 publications

References 7 publications

Simulated productivity of one- and two-armed tree planting machines

Simulated productivity of one- and two-armed tree planting machines

Micromanipulation and microfabrication for optical microrobotics

A novel shared control algorithm for industrial robots

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