Task-oriented rigidity optimization for 7 DOF redundant manipulators

Busson, David; Béarée, Richard; Olabi, Adel

doi:10.1016/j.ifacol.2017.08.2108

Cited by 27 publications

(16 citation statements)

References 12 publications

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“…The link lengths have been assumed as per the specification sheet for the robot. The modified D-H table is as follows: It was decided to use the modified DH-table here, since it seems to be popular amongst relevant studies pertaining to industrial robots [35] [36]. As compared to the standard DH Hence, using the stated order of operations the transformation matrix from link (i-1) to link (i) can be written as:…”

Section: Accuracy Testing For the Lighthouse Systemmentioning

confidence: 99%

Application and Evaluation of Lighthouse Technology for Precision Motion Capture

2020

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Without his patience, guidance, and support this work would not have been possible. I am also grateful to FTL Labs Corp. for their assistance and sponsorship for the project. A big thanks to Damon and Jared from FTL Labs for developing a graphical user interface that aided the thesis work. To my committee members, Andrew LaPrè and Yossi Chait, I am extremely thankful for all the suggestions, critiques and feedback which have played a really important role in shaping the thesis. Last but not the least, I also wish to thank my lab-mates Ericber, Julio, Mark and Vinh who have helped me stay motivated, and whose help and suggestions have been of great assistance.

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Section: Accuracy Testing For the Lighthouse Systemmentioning

confidence: 99%

Application and Evaluation of Lighthouse Technology for Precision Motion Capture

2020

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“…Although force production may be extended well beyond what one could expect from a robot such as the LBR iiwa, it may be important, for industrial operations, to maintain a level of accuracy by limiting gear elastic deformations. An other index, developed in [17], proposes to assess the Cartesian rigidity along the direction of an interaction force over the redundancy space of a manipulator. This criteria, and maybe an other that measures translational and rotational displacements of the TCP could be combined with the one described in the letter to assess and improve the overall performances of redundant manipulators.…”

Section: Discussionmentioning

confidence: 99%

A Pragmatic Approach to Exploiting Full Force Capacity for Serial Redundant Manipulators

Busson

Béarée

2018

IEEE Robot. Autom. Lett.

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“…Since the Jacobian is expressed in the end-effector frame and we only consider the translational components, the h vector will be equal to h = [0 0 1 0 0 0] T , which corresponds to the z axis. It is worth remarking that ( 17) is a special case of the optimization problem in [17], obtained by setting the same compliance for all joints.…”

Section: Force Ellipsoidsmentioning

confidence: 99%

“…Recalling the optimization function ( 15) at the final stage N i , we have that where q (N i ) is the configuration obtained by applying (17).…”

Section: Force Ellipsoidsmentioning

confidence: 99%

Planning of efficient trajectories in robotized assembly of aerostructures exploiting kinematic redundancy

2021

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Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction. Robotic workcells are sometimes characterized by robots mounted on slides to increase the robot workspace. The slide introduces an additional degree of freedom, making the system kinematically redundant, but this feature is rarely used to enhance performances. The paper proposes a new concept in trajectory planning, that exploits the redundancy to satisfy additional requirements. A dynamic programming technique is adopted, which computes optimized trajectories, minimizing or maximizing the performance indices of interest. The use case is defined on the LABOR (Lean robotized AssemBly and cOntrol of composite aeRostructures) project which adopts two cooperating six-axis robots mounted on linear axes to perform assembly operations on fuselage panels. Considering the needs of this workcell, unnecessary robot movements are minimized to increase safety, the mechanical stiffness is maximized to increase stability during the drilling operations, collisions are avoided, while joint limits and the available planning time are respected. Experiments are performed in a simulation environment, where the optimal trajectories are executed, highlighting the resulting performances and improvements with respect to non-optimized solutions.

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Task-oriented rigidity optimization for 7 DOF redundant manipulators

Cited by 27 publications

References 12 publications

Application and Evaluation of Lighthouse Technology for Precision Motion Capture

Application and Evaluation of Lighthouse Technology for Precision Motion Capture

A Pragmatic Approach to Exploiting Full Force Capacity for Serial Redundant Manipulators

Planning of efficient trajectories in robotized assembly of aerostructures exploiting kinematic redundancy

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