Search results for " Kinematics"
showing 10 items of 109 documents
Increasing the accuracy of untaught robot positions by means of a multi-camera system
2010
We aim to improve the absolute in line positional accuracy of a robot-guided effector to better than 1 mm. We do so using photogrammetric techniques and by relying heavily on simulations to fine tune each parameter and avoid weak configurations. We also use simulations to design an LED calibration object adapted to this application. A test procedure enables us to validate both the simulated results as well as the calibration procedure. The test results exceed expectations by improving the absolute positioning of a robot effector by a factor of 20.
Automated inventory management and security surveillance system using image processing techniques
2010
Efficient inventory management and allocation of cargo space is an imperative parameter in the industry today. In this paper we propose an algorithm to automate complete inventory unit with the aid of image processing and artificial intelligence algorithms. These algorithms work on the data acquired through image processing. This data then integrates with the Artificial Intelligence algorithm which in turn takes inputs from the sensors present on the robot. These sensors help in precise localization of the robot. The path planning algorithm takes input from virtual map buffer which is present in the CPU memory. This buffer in accordance with the sensor data and Image Processing data generat…
Off-line path correction of robotic face milling using static tool force and robot stiffness
2015
In this paper the developed method for off-line compensation of tool deflections when milling aluminum with an industrial robot is presented. The efficiency of this approach is verified with high precision measurements of deflections using a laser tracker. The compensation method includes both the static milling process model which can predict the mean value components of the tool forces and a new combined local/global approach for estimating the combined stiffnesses of joints. With a process model such as the one presented in this paper and estimates of the robot's joint stiffness values, the tool path can be adjusted to counteract deflections of the tool during milling operations. The mod…
Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane
2021
In this paper, 3D anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to model the system and create the 3D anti-swing controller. The anti-swing controller generates a set of tool point velocities which are added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angles …
The Emotional Modulation of Facial Mimicry: A Kinematic Study
2018
It is well-established that the observation of emotional facial expression induces facial mimicry responses in the observers. However, how the interaction between emotional and motor components of facial expressions can modulate the motor behavior of the perceiver is still unknown. We have developed a kinematic experiment to evaluate the effect of different oro-facial expressions on perceiver's face movements. Participants were asked to perform two movements, i.e., lip stretching and lip protrusion, in response to the observation of four meaningful (i.e., smile, angry-mouth, kiss, and spit) and two meaningless mouth gestures. All the stimuli were characterized by different motor patterns (m…
Soft-dielectron excess in proton-proton collisions at $\sqrt{s}$ = 13 TeV
2021
Physical review letters 127(4), 042302 (2021). doi:10.1103/PhysRevLett.127.042302
Negative and positive feedback from a supernova remnant with SHREC
2022
Supernova remnants (SNRs) contribute to regulate the star formation efficiency and evolution of galaxies. As they expand into the interstellar medium (ISM), they transfer vast amounts of energy and momentum that displace, compress and heat the surrounding material. Despite the extensive work in galaxy evolution models, it remains to be observationally validated to what extent the molecular ISM is affected by the interaction with SNRs. We use the first results of the ESO-ARO Public Spectroscopic Survey SHREC, to investigate the shock interaction between the SNR IC443 and the nearby molecular clump G. We use high sensitivity SiO(2-1) and H$^{13}$CO$^+$(1-0) maps obtained by SHREC together wit…
Dynamic Analysis of a 7 DOF Robot Using Fuzzy Logic for Inverse Kinematics Problem
2019
Abstract In this paper, a dynamic analysis for a redundant, serial robot, with seven degrees of freedom is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into MATLAB®, Simulink®-Simscape™-SimMechanics™. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. Because this type of robot has seven degrees of freedom the IK resolution implies an infinite number of solutions. So, to be able to resolve the IK for this kind of robot a F…
Measurement and storage of a network of jacobians as a method for the visual positioning of a robot arm
1996
The goal of this paper is to describe a method to position a robot arm at any visible point of a given workspace without an explicit on line use of the analytical form of the transformations between real space and camera coordinates (camera calibration) or between cartesian and joint coordinates (direct or inverse kinematics of the robot arm). The formulation uses a discrete network of points distributed all over the workspace in which a procedure is given to measure certain Jacobian matrices which represent a good local linear approximation to the unknown compound transformation between camera and joint coordinates. This approach is inspired by the biological observation of the vestibulo-o…
Three-Dimensional Kinematics during the Take-Off Phase in Competitive Long Jumping
2013
The purpose of the present study was to identify the relationships among selected kinematic variables that affect the take-off phase and performance in elite jumpers. The jump distance was found to be related to: I) the athlete's approach speed before the instant of touch down; and ii) the exchange in spatial velocity components at take-off, which results in a gain in maximum vertical velocity of the centre of mass (CM), favoured by the use of an optimum touch-down angle of the take-off leg, an active landing of the foot at touch-down, and a motion of the take-off leg during the compression phase that helps to manage the loss of horizontal velocity. Nonetheless, the results show that an ad…