Survey of robotic arm and parameters

Patidar, Virendra; Tiwari, Ritu

doi:10.1109/iccci.2016.7479938

Cited by 29 publications

(8 citation statements)

References 32 publications

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“…9 Example of the second kind of mutation strategy with 2 robots and 4 tasks (e) The algorithms end if the number of generations is equal to the maximum number of generations or if the solution has not been improved during a maximum number of stall generations. Otherwise, the algorithm goes back to Step (2).…”

Section: (D)iii 3(d)iiimentioning

confidence: 99%

“…In recent decades, there have been great advances in the field of robotics with several works with humanoid robots [1], robotic arms [2] and in mobile robots or unmanned vehicles. Particularly, these unmanned vehicles have been used sible way to optimize one or more performance indexes, such as energy consumption or total time spent among others.…”

Section: Introductionmentioning

confidence: 99%

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Multi-robot task allocation problem with multiple nonlinear criteria using branch and bound and genetic algorithms

Martín

Frejo

García

et al. 2021

Intel Serv Robotics

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The paper proposes the formulation of a single-task robot (ST), single-robot task (SR), time-extended assignment (TA), multi-robot task allocation (MRTA) problem with multiple, nonlinear criteria using discrete variables that drastically reduce the computation burden. Obtaining an allocation is addressed by a Branch and Bound (B&B) algorithm in low scale problems and by a genetic algorithm (GA) specifically developed for the proposed formulation in larger scale problems. The GA crossover and mutation strategies design ensure that the descendant allocations of each generation will maintain a certain level of feasibility, reducing greatly the range of possible descendants, and accelerating their convergence to a sub-optimal allocation. The proposed MRTA algorithms are simulated and analyzed in the context of a thermosolar power plant, for which the spatially distributed Direct Normal Irradiance (DNI) is estimated using a heterogeneous fleet composed of both aerial and ground unmanned vehicles. Three optimization criteria are simultaneously considered: distance traveled, time required to complete the task and energetic feasibility. Even though this paper uses a thermosolar power plant as a case study, the proposed algorithms can be applied to any MRTA problem that uses a multi-criteria and nonlinear cost function in an equivalent way. The performance and response of the proposed algorithms are compared for four different scenarios. The results show that the B&B algorithm can find the global optimal solution in a reasonable time for a case with four robots and six tasks. For larger problems, the genetic algorithm approaches the global optimal solution in much less computation time. Moreover, the trade-off between computation time and accuracy can be easily carried out by tuning the parameters of the genetic algorithm according to the available computational power.

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Section: (D)iii 3(d)iiimentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Multi-robot task allocation problem with multiple nonlinear criteria using branch and bound and genetic algorithms

Martín

Frejo

García

et al. 2021

Intel Serv Robotics

View full text Add to dashboard Cite

show abstract

“…They have been very famous because of increased efficiency, higher quality, improved working environment, increased profitability, longer working hours, and prestige [17]. The robotic arms have some common parameters such as the number of axes, degree of freedom, working envelope and working space covering the arm, kinematics, payload, speed and acceleration, accuracy and repeatability, movement control and arm drive, etc [18].…”

Section: Related Workmentioning

confidence: 99%

ThamRobot: An Automated Robotic System to Play Thammattama

Goonatilleke¹,

Hettige²

2021

IJCATR

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Sri Lanka has a precious traditional drum music culture that is mainly based on traditional drums. At present, this drum culture is in decline due to a lack of talented drum players. As a result, many Buddhist temples are facing a serious and tragic problem. This article presents the design and implementation of a robotic system named ThamRobot contains two robotic arms that were designed to play pre-programmed three drum tunes of the Thammattama correctly and efficiently like a drum player without any intervention of a human. In the research, nine major characteristics factors of the Thammattama such as music notes, drum locations, approximate stress, frequencies, pitch, drum type, number of sticks, playing technique, distance from stick to drum face were identified. The entire system is comprised of four main modules named motion module, user-operation module, processing module, power supply module. Finally, the system has been tested in a laboratory environment and encouraging results were obtained.

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“…While the human arm is highly dexterous and a complex musculoskeletal structure, it is capable of performing movements including reaching, grasping and manipulation and it is considered an essential component for human interactive robots in a collaborative engagement. The design and development of a biomimetic arm depends on complex parameters like the number of degrees of freedom (DoF), working envelope, and working space that the arm covers, kinematics, payload, speed and acceleration, accuracy, and repeatability [3]. For a human operator to maximize the potential of an advanced robotic arm, the implementation of various innovative control strategies remains a key challenge in the field of humanoid robotics.…”

Section: Introductionmentioning

confidence: 99%

An integrated system design interface for operating 8-DoF robotic arm

Rao¹

2022

Preprint

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This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

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Survey of robotic arm and parameters

Cited by 29 publications

References 32 publications

Multi-robot task allocation problem with multiple nonlinear criteria using branch and bound and genetic algorithms

Multi-robot task allocation problem with multiple nonlinear criteria using branch and bound and genetic algorithms

ThamRobot: An Automated Robotic System to Play Thammattama

An integrated system design interface for operating 8-DoF robotic arm

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