Buradasınız

Anasayfa » Content

Online Recording the Position and Orientation of an End-Effector of a Spatial Cable-Suspended Robot for Close Loop Control Using HybridSensors

Journal Name:

  • Journal of Control Engineering and Technology

Publication Year:

  • 2013

Key Words:

Author NameUniversity of Author
Abstract (2. Language): 
All of the Degrees of Freedom including of position and orientation of the end-effector of a spatial cable robot are sensed and recorded with a new sensor fusion method in this paper for being used as feedback. This goal is achieved by employing a hybrid methodology of image processing and distance measurement device. The advantage of the proposed algorithm over encoder solution is its higher accuracy for the cases in which the model suffers from structural uncertainties. Moreover, contrary to other end-effector’s pose measurement devices, this method is able to record all of 6 spatial degrees of freedom in all of environmental conditions and in whole of the workspace of the robot. Both of camera and lasers are calibrated individually to provide an actual data set. The camera is responsible for observing the planar movement of the end-effector while the lasers provide the altitude and rotation data of the end-effector. The final reported data of position and orientation of the end-effector are evaluated eventually by the aid of both the data of the lasers and camera using a perspective based methodology and presented data fusion formulation. The reported position of the end-effector which is captured in an online way is then employed as feedback for the control center of the robot. By using a closed loop way which is based on feedback linearization algorithm, this center controls the end-effector. A simulation study is done on the ICaSbot (IUST Cable Suspended Robot) which is a spatial cable robot with six DOFs using six actuators. The efficiency of the proposed algorithm is proved by comparing the experimental tests conducted on ICaSbot with the related simulation results which are performed in the MATLAB environment. The tests include statistical analysis of accuracy and repeatability and also dynamic movement of tracking and point to point motion.
Bookmark/Search this post with
FULL TEXT (PDF): 
PDF icon arastrmx_153796_3_pp_30-40.pdf
  • 1
30-40
  • English

REFERENCES

References: 

[1] I. A. Bonev. “The true Origins of Parallel Robots”, ParalleMIC: the Parallel Mechanisms Information Center, January, 2003.
[2] R. G. Roberts, T. Graham, and T. Lippitt, “On the Inverse Kinematics, Statics, and Fault Tolerance of Cable-Suspended Robots, Journal of Robotic Systems, vol. 15, pp. 581–597, 1998.
[3] J. Albus, R. Bostelman, and N. Dagalakis, “The NIST ROBOCRANE,” Journal of Robotic Systems, vol. 10, no. 5, pp. 709–724, 1993.
[4] W.J. Shiang, D. Cannon, J. Gorman, “Dynamic Analysis of the Cable Array Robotic Crane”, IEEE International Conference on Robotics and Automation, pp. 495-500, 1999.
[5] R. Bostelman, J. Albus, N. Dagalakis, A. Jacoff, “RoboCrane Project: An Advanced Concept for Large Scale Manufacturing”, Intelligent Systems Division National Institute of Standards and Technology Gaithersburg, Maryland, 1995.
[6] A.H. Chang, “Experimental Development of the Mobile Vestibular Platform”, SUNFEST Technical Report, Center for Sensor Technologies, University of Pennsylvania, Philadelphia, PA, 2004.
Journal of Control Engineering and Technology (JCET)
JCET Vol. 3 Iss. 1 January 2013 PP. 30-40 www.ijcet.org ○C American V-King Scientific Publishing
40
[7] R. L. Williams II, B. Snyder, J. Albus, and R. Bostelman, “Seven-DOF Cable-Suspended Robot with Independent Metrology”, ASME Int. Des. Eng. Tech. Conf. Comp. Inf. Eng. Conf., 2004.
[8] J.H. Lee, S.J. Park, S.W. Oh, Y.S. Kim, “A Study on the Work Efficiency Improvement of Tower Crane Operation Using GPS and Machine Vision”, Journal of Architectural Institute of Korea 18 (11), pp.133–140, 2002.
[9] E. Ottaviano, M. Ceccarelli, M. De Ciantis, “A 4–4 Cable-Based Parallel Manipulator for an Application in Hospital Environment,” Control & Automation, MED '07. Mediterranean Conference, pp.1-6, 27-29 June 2007.
[10] L.Mejias, P.Campoy, K. Usher, J. Roberts, P.Corke, “Two Seconds to Touchdown - Vision-Based Controlled Forced Landing,” Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pp. 3527-3532, 9-15 Oct. 2006.
[11] B.H. Kim, M.R. Song, “Semi-automation of Tower Cranes, a Study on the Development of Semi-Automatic Equipment of Construction Machinery (VI)”, Korea Institute of Construction Technology, Ilsan, Korea, 1997.
[12] Lee, G., Kim, H.-H., Lee, C.-J., Ham, S.-I., Yun, S.-H., Cho, H., Kim, B.K., (...), Kim, K. ”A laser-technology-based lifting-path tracking system for a robotic tower crane,” Automation in Construction, 18 (7), pp. 865-874, 2009.
[13] A.B. Alp, “Cable Suspended Parallel Robots”, Thesis for the Degree of Master of Science in Mechanical Engineering in University of Delaware, 2001.
[14] M.H. Korayem, H. Tourajizadeh, M. Bamdad, “Dynamic Load Carrying Capacity of Flexible Cable Suspended Robot: Robust Feedback Linearization Control Approach,” Journal of Intelligent and Robotic Systems, 60, pp. 341– 363, 2010.
[15] M.H. Korayem, M. Bamdad, H. Tourajizadeh, H. Shafiee, R. M. Zehtab, A. Iranpour “Development of ICaSbot a Cable Suspended Robot with 6 DOFs”, Arabian Journal for Science and Engineering, DOI 10.1007/s13369-012-0352-9, 2012.
[16] M. Slamani, A. Nubiola, I. Bonev, “Assessment of the positioning performance of an industrial robot”, Industrial Robot: An International Journal, Vol. 39, Iss: 1, pp.57 – 68, 2012.

Thank you for copying data from http://www.arastirmax.com