The NIST robocrane

Albus, James S.; Bostelman, Roger V.; Dagalakis, Nicholas G.

doi:10.1002/rob.4620100509

Cited by 513 publications

(234 citation statements)

References 2 publications

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“…In crane configurations, for instance, gravity acts as an implicit cable, and therefore six cables suffice for the full 6-D manipulation. Examples of such structures are the NIST Robocrane [1] or more general cable-driven hexapods [4].…”

Section: Overview Of the Contributionmentioning

confidence: 99%

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Manubens¹,

Devaurs²,

Ros³

et al. 2013

Robotics: Science and Systems IX

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Abstract-Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static manipulation with an aerial towed-cable system. The novelty of this approach lies in the use of a cost-based motion-planning algorithm together with some results deriving from the static analysis of cabledriven manipulators. Based on the so-called wrench-feasibility constraints applied to the cable tensions, as well as thrust constraints applied to the flying robots, we formally characterize the set of feasible configurations of the system. Besides, the expression of these constraints leads to a criterion to evaluate the quality of a configuration. This allows us to define a cost function over the configuration space, which we exploit to compute good-quality paths using the T-RRT algorithm. As part of our approach, we also propose an aerial towed-cable system that we name the FlyCrane. It consists of a platform attached to three flying robots using six fixed-length cables. We validate the proposed approach on two simulated 6-D quasi-static manipulation problems involving such a system, and show the benefit of taking the cost function into account for such motion planning tasks.

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Section: Overview Of the Contributionmentioning

confidence: 99%

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Manubens¹,

Devaurs²,

Ros³

et al. 2013

Robotics: Science and Systems IX

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“…All of the above was achieved without altering RoboCrane's original teleoperated control system. Instead, a high-level autonomous control system was developed to simulate the human operator by sending identical 6-DOF joystick 2 commands through and reading the same encoder data from the original controller's interface.…”

Section: Developments To Date and Current Limitationsmentioning

confidence: 99%

“…CMAG has implemented new capabilities into the NIST RoboCrane -a robotic crane developed at NIST in the early 1980's [1,2,3] -in order to develop and demonstrate autonomous steel construction processes. Chief among the desired capabilities is improved picking and placement of steel beams.…”

Section: Introductionmentioning

confidence: 99%

Development of a Real-Time Control System Architecture for Automated Steel Construction

Saidi

Bunch

Lytle

et al. 2006

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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Abstract:The National Institute of Standards and Technology (NIST) is developing a real-time control system for a robotic crane (the NIST RoboCrane) that will perform automated structural steel pick-and-place operations. The control system architecture is based on the NIST Real-time Control Systems (RCS) reference model, which defines a system development methodology and a hierarchical control architecture in which system tasks and associated information are decomposed and organized into more easily manageable components or subsets. The task of picking and placing a structural steel beam was decomposed into multiple sub-task levels that must be performed in order to complete the pick-and-place operation. Tasks were decomposed from high-level operator input, such as "Install Beam A" down through the controller to the sensor and actuator level on the crane, at which, for example, voltages are computed and output to individual motors. Each level was organized into a series of control nodes each responsible for executing the sub-tasks at that given level of control. The control nodes share a common generic node model for sensor information processing, world modeling, and behavior generation. The control system development effort and its implementation on RoboCrane are presented in this paper.

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“…RoboCrane is an innovative, cable-driven, manipulator invented by the NIST Intelligent Systems Division (ISD) and further developed and adapted for specialized applications over a period of several years [6,7,8]. The basic RoboCrane is an inverted Stewart platform parallel-link manipulator with cables and winches serving as the links and actuators, respectively.…”

Section: System Overviewmentioning

confidence: 99%

Development of a Robotic Structural Steel Placement System

Lytle

Saidi

Stone

2002

Proceedings of the 19th International Symposium on Automation and Robotics in Construction (ISARC)

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ABSTRACT:The NIST Construction Metrology and Automation Group, in cooperation with the NIST Intelligent Systems Division, is researching robotic structural steel placement as part of a project to develop an Automated Steel Construction Testbed. This project was initiated in response to industry requests for advanced tools and methodologies to speed the erection of steel structures while maintaining or enhancing standards for worker safety and facility reliability. This initial effort integrates and extends prior NIST research in robotic crane employment, teleoperated steel beam placement, laser-based site metrology, construction component tracking, and web-enabled 3-D visualization.

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The NIST robocrane

Cited by 513 publications

References 2 publications

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Development of a Real-Time Control System Architecture for Automated Steel Construction

Development of a Robotic Structural Steel Placement System

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