Workspace analysis and optimization of 4-links of an 8-DOF haptic master device

Iqbal, Hashim; Aized, Tauseef

doi:10.1016/j.robot.2014.03.006

Cited by 6 publications

(2 citation statements)

References 12 publications

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“…These solutions differ in kinematics, the number of degrees of freedom, or the way haptic effects are generated. Despite the differences, the main task of all the solutions developed is to provide the operator with feedback on the inertia of the device they control [17,18,19,20,21,22].…”

Section: The Essence Of Haptic Feedback and Its Applicationsmentioning

confidence: 99%

Problems of using haptic feedback to control manipulator tools

Łopatka

Sterniczuk

2021

MATEC Web Conf.

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The paper reviews the machine operators support technologies used in carrying out work tasks. The limitations of the current design solutions have been identified. The construction of control systems using haptic feedback was discussed and the research carried out on this technology was reviewed. The concept of hydraulic manipulator tool and its haptic feedback control system for monitoring loads during working movements is presented. The concept of the test stand for testing haptic feedback control systems and the preliminary experiment plan are presented.

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Section: The Essence Of Haptic Feedback and Its Applicationsmentioning

confidence: 99%

Problems of using haptic feedback to control manipulator tools

Łopatka

Sterniczuk

2021

MATEC Web Conf.

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“…Design optimization procedures followed in the design of industrial robot manipulators [7] and the design of haptic devices [8] are utilized in this present work in terms of analyzing the requirements, stating the problem, assigning design constraints, and nominating objective functions. Consequently, performance indices such as manipulability and condition number can be utilized to evaluate kinematic and/or dynamic performances of manipulators [9]. Specifically, in this present work, the objective function that is used in redundancy resolution via null-space optimization is derived by using the modified form of these two indices.…”

Section: Introductionmentioning

confidence: 99%

A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique

2021

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Redundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.

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