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Design, Prototyping, Interfacing and Control of a Kinematically Isotropic, Seven-DOF Manipulator

Authors: [tex2html_wrap4316]J. Angeles, F. Ranjbaran, K. T. Shafik, R. V. Patel (Concordia University)

Investigator username: angeles

Category: robotics

Subcategory: modelling and simulation

Based on the concepts of kinematic isotropy and redundancy as two main design criteria, we have developed a prototype of REDIESTRO, dundant, Dextrous, Isotropically Enhanced, Seven Turning-Pair RObot. This manipulator was built with the size of a Puma 560 robot, its maximum reach being of 1.6 m. We have also developed algorithms to address redundancy resolution in light of isotropy, and designed and implemented the hardware and software necessary to operate REDIESTRO in real time. Our current research emphasis is along two main directions,

a) A theoretical analysis for the evaluation of the merits of isotropy as a criterion in manipulator design. In this regard issues such as joint space geometry, singularities and overall performance are being studied.

b) An experimental framework for conducting tests on structural link and joint flexibility, kinematic calibration, redundancy resolution and manipulator accuracy for redundant manipulators.

cliques

cliquesptitle Workpiece Reorientation with a Smart Belt Conveyor Authors: [tex2html_wrap4318]K. Khader, J. Angeles, S. El-Shakery (Monufia University, Egypt)

Investigator username: angeles

Category: robotics

Subcategory: modelling and simulation

Flexible manufacturing systems with belt conveyors that transport workpieces in batches to be picked up by a robot motivated this work. In such systems, workpieces are discharged onto a belt conveyor with arbitrary orientations and then transported to another station where a robot picks them up. In order to enhance the reliability of the robot and minimize costs of operation, the workpieces should be presented to the robot with the same orientation, which is the task of the conveyors studied here. These conveyors are termed shaking conveyors because their transport speed is not uniform, but oscillating, with a periodic velocity profile. Here, the load rides on the belt during an interval of the cycle and either slides along or flies over the surface of the conveyor in the remaining interval. Preliminary studies have addressed the kinematics of the drives required to transmit the most suitable motion program to the belt. Now we are working on the dynamics model of the workpiece upon considering arbitrary geometries, contact areas and materials of both workpiece and belt surface. In a second stage, an intelligent control unit with vision feedback will be installed in order to fully automate the on-line process of finding the optimum conveying speed. The research work reported here is receiving partial support from the Egyptian Government.

cliquesptitle Dynamics and Control of Mobile Manipulators Authors: [tex2html_wrap4320]D. Rey, E. Papadopoulos

Investigator username: egpapado

Category: robotics

Subcategory: modelling and simulation

Mobile platforms equipped with manipulator systems have been proposed to perform important missions in the construction, field, and space environments. Their missions will include such diverse tasks as earth removal operations, tree harvesting, handling of toxic and radioactive waste, and planetary exploration. In this research study, we focus on dynamics, planning and control problems found in mobile manipulator systems and aim to a better understanding of some of the fundamental problems introduced by the use of such systems.



Next: Qualitative Geometric Reasoning Up: Modelling and Simulation Previous: DesignPrototyping, Interfacing


baron@cim.mcgill.ca