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On-line Precision Calibration of Mobile Manipulators Based on the Multi-level Measurement Strategy

Sheng Jian, Xiansheng Yang, Xianwei Yuan, Yunjiang Lou, Yao Jiang, Genliang Chen, Guoyuan Liang
2021 IEEE Access  
The mean positioning error of AIMM after calibration reduces 93% based on the calibration experiment. INDEX TERMS On-line robot calibration, base station, multi-level measurement strategy.  ...  To cope with the issue of high precision calibration in large space, we propose a multi-level guided-based measurement strategy, which includes the low-cost vision positioning and guidance system, and  ...  At present, the off-line calibration schemes based on external sensors are mainly used to calibrate the manipulator and the relationship between the base of manipulator and the mobile platform.  ... 
doi:10.1109/access.2021.3053356 fatcat:kxxixmyjd5eojhvfinqxzy7f2a

Survey of Research for Performance Measurement of Mobile Manipulators

Roger Bostelman, Tsai Hong, Jeremy Marvel
2016 Journal of Research of the National Institute of Standards and Technology  
Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator  ...  Lastly, the survey includes a section on performance measurement research for robots, mobile robots, and mobile manipulators, beginning with calibration, standards, and mobile manipulator artifacts being  ...  Their enormous efforts combine into the evolution of complex, yet highly useful mobile manipulator systems where performance measurements will soon provide the repeatable methods to aid system design and  ... 
doi:10.6028/jres.121.015 fatcat:xh2nmy6b55hrnazuv2qw5w7uby

Cyber-Physical Systems for Micro-/Nano-assembly Operations: a Survey

Jose A Mulet Alberola, Irene Fassi
2021 Current Robotics Reports  
Recent Findings The introduction of CPS is still in its infancy on many industrial applications, but it actually demonstrates its potential to support future manufacturing paradigm.  ...  In this sense, this paper aims at reviewing the introduction level of CPS technologies in micro/nano-manufacturing and how these technologies could cope with these challenging manufacturing requirements  ...  In [17] , a multi-mobile micro-manipulation system is developed, which is capable of performing multiple robotic micro-assemblies by the cooperation of different manipulation systems, saving energy space  ... 
doi:10.1007/s43154-020-00041-2 fatcat:xibxs2dtcna2rj3u7a6i3x2swi

Mobile Manipulation: A Case Study [chapter]

A. Hentout, B. Bouzouia, I. Akli, R. Toumi
2010 Robot Manipulators New Achievements  
Architecture of the RobuTER/ULM mobile manipulator RobuTER/ULM is composed of a rectangular differentially-driven mobile base on which is mounted a manipulator.  ...  The mobile base is equipped with a belt of 24 ultrasonic sensors, a laser measurement system at the front and an odometer sensor on each driven wheel. )  ...  They are due to the weak precision of the measured real values, to the low rigidity of the manipulator, to the accumulation errors of the calibration processand to the feeble precision of the LMS sensor  ... 
doi:10.5772/9324 fatcat:hkg2rbaus5bs5jcudfrcuyroei

A low-cost approach for self-calibration of climbing robots

Mahmoud Tavakoli, Lino Marques, Aníbal T. de Almeida
2011 Robotica (Cambridge. Print)  
In the first step of the algorithm, the manipulator should move to a predefined pose (C) and then ε b is calculated based on the measurements of the inertial unit installed on the base of the robot.  ...  The mobility of the base merges an error to the base of the robot and since the manipulator trajectory is calculated relative to the base, any error in the base of the robot is magnified through multiplication  ... 
doi:10.1017/s0263574710000676 fatcat:ubock3wvsvar3kcrwt5wklomlu

Self calibration of step-by-step based climbing robots

Mahmoud Tavakoli, Lino Marques, Anibal T. de Almeida
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In all these robots, to take each step, one gripper grasps the structure and acts as the base of the robot, while the other gripper acts as manipulator.  ...  All step-by-step based PCRs have one common aspect. They have two grippers on two sides which are connected through a multi DOFs climbing mechanism.  ...  This work was partially supported by the Portuguese Foundation of Science and Technology, contract SFRH/BD/29883/2006.  ... 
doi:10.1109/iros.2009.5354746 dblp:conf/iros/TavakoliMA09 fatcat:pheqyi5lbjcqvnj4zmwybcuhte

Table of Contents

2020 2020 IEEE International Conference on Mechatronics and Automation (ICMA)  
Calibration for Industrial Mobile Manipulators 582 Zhengxue Zhou, Leihui Li, Riwei Wang, Xuping Zhang Towards Robust Auto-calibration for Head-mounted Gaze Tracking Systems 588 Meng Liu, Youfu  ...  Locally Transforming the Diameter for the Locomotion on Rough Terrain 1257 Naoki Moriya, Hiroki Shigemune, Hideyuki Sawada Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious  ... 
doi:10.1109/icma49215.2020.9233874 fatcat:eif3diclc5gy3dvmbtirtfv2s4

Printing-while-moving: a new paradigm for large-scale robotic 3D Printing [article]

Mehmet Efe Tiryaki and Xu Zhang and Quang-Cuong Pham
2018 arXiv   pre-print
Recently, a mobile printing system - a manipulator mounted on a mobile base - was proposed to alleviate this issue: such a system, by moving its base, can potentially print a structure larger than itself  ...  However, the proposed system could only print while being stationary, imposing thereby a limit on the size of structures that can be printed in a single take.  ...  Acknowledgement This work was supported in part by the Medium-Sized Centre funding scheme (awarded by the National Research Foundation, Prime Ministers Office, Singapore) and by Sembcorp Design & Construction  ... 
arXiv:1809.07940v1 fatcat:zvxx4gaen5alve7zuilubn2ozy

Towards gesture-based programming: shape from motion primordial learning of sensorimotor primitives

Richard M. Voyles, J. Dan Morrow, Pradeep K. Khosla
1997 Robotics and Autonomous Systems  
This paper describes simple applications of the technique to a small mobile robot and a PUMA manipulator.  ...  The mobile robot learned to escape from jams while the manipulator learned guarded moves and rotational accommodation that are composable to allow flat plate mating operations.  ...  sensorimotor primitives from teleoperated actions on both a mobile robot and a manipulator.  ... 
doi:10.1016/s0921-8890(97)00048-1 fatcat:iecgyqolunb3za5lejadupdm3m

A Taxonomy of Vision Systems for Ground Mobile Robots

Jesus Martinez-Gomez, Antonio Fernandez-Caballero, Ismael Garcia-Varea, Luis Rodriguez, Cristina Romero-Gonzalez
2014 International Journal of Advanced Robotic Systems  
Moreover, the study of the articles is used to put forward a comprehensive taxonomy based on the most up-to-date research in ground mobile robotics.  ...  The article offers a global picture of the state of the art in the area and discovers some promising research lines.  ...  (c) In 1D line-based calibration, the calibration objects used are composed of a set of collinear points.  ... 
doi:10.5772/58900 fatcat:ydrtcuwnbrbhdgjxmw3rhfa7oi

A Flexible Robotic Framework for Autonomous Manufacturing Processes: Report from the European Robotics Challenge Stage 1

Arne-Christoph Hildebrandt, Christoph Schuetz, Daniel Wahrmann, Robert Wittmann, Daniel Rixen
2016 2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)  
Common industrial automation approaches consist on heavy and fixed robotic manipulators working in separated and closed production lines.  ...  At the challenge 2 of this EU-funded project, a mobile robotic platform shall be applied for intelligent, flexible and highly automated production systems.  ...  Yousefpour whose contribution was essential to the team's success.  ... 
doi:10.1109/icarsc.2016.15 dblp:conf/icarsc/HildebrandtSWWR16 fatcat:boxw3nlj6vftvfx252ek7qij7m

Calibration of Parallel Manipulators and their Application to Machine Tools. A State of the Art Survey
Calibración de manipuladores paralelos y su aplicación a las máquinas herramienta. Un Estudio del estado del arte

Eusebio E. Hernández-Martínez, Carlos S. López-Cajún, Juan Carlos Jáuregui-Correa
2010 Ingeniería Investigación y Tecnología  
Some of the main investigations on calibration methods of parallel mechanisms are briefly discussed in this work.  ...  Additionally, the main characteristics of the existing methods of calibration are discussed, such as the parametrical approaches, the calibration methods with internal/external measuring devices, innovative  ...  Acknowledgements The work reported was financially supported by CONACyT through a scholarship granted to the first author and the grant No. 51410Y.  ... 
doi:10.22201/fi.25940732e.2010.11n2.012 fatcat:yr4b6ivtareg3onp7bgzqf7qui

Designing rich touch interaction through proximity and 2.5D force sensing touchpad

Seongkook Heo, Jaehyun Han, Geehyuk Lee
2013 Proceedings of the 25th Australian Computer-Human Interaction Conference on Augmentation, Application, Innovation, Collaboration - OzCHI '13  
We also present two design strategies for the hover-and force-enhanced touchpad: multi-level user interaction and mimicry of physical manipulation.  ...  We illustrate the two design strategies using two applications that we developed based on the design strategies.  ...  Multi-level User Interaction: Video Browsing When browsing a video, both quick skimming and precise navigation are important.  ... 
doi:10.1145/2541016.2541057 dblp:conf/ozchi/HeoHL13 fatcat:yiugqst36rc2vopa7unai2a7jm

Design Concept and Realization of the Humanoid Service Robot HERMES [chapter]

Rainer Bischoff
1998 Field and Service Robotics  
In this paper the design concept and the realization of a novel service robot named HERMES are described.  ...  To carry out automated service tasks at different places within large working environments, a robot system able to navigate autonomously and to execute commanded manipulation tasks is needed.  ...  On the next hierarchical level operator commands are transferred to sensor-based actions of the robot, i.e., motion commands for the mobile base, manipulator system or sensor system.  ... 
doi:10.1007/978-1-4471-1273-0_73 fatcat:5hqbtuoytzg5dokrtxvoavqyvy

Control of the multi agent micro-robotic platform MiCRoN

Panagiotis Vartholomeos, Savvas Loizou, Michael Thiel, Kostas Kyriakopoulos, Evangelos Papadopoulos
2006 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control  
The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation  ...  The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.  ...  The MiCRoN system is based on a cluster (5-10) of small mobile autonomous robots.  ... 
doi:10.1109/cacsd-cca-isic.2006.4776849 fatcat:xvqdlrhthbdnvp3zlo55uzvbxm
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