Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 参加報告

Over the last few decades, extensive use of flexible manipulators in various robotic applications has made it as one of the research interests for many scholars over the world. Recent studies on the modeling, sensor systems and controllers for the applications of flexible robotic manipulators are reviewed in order to complement the previous literature surveyed by Benosman & Vey (Robotica 22:533---545, 2004) and Dwivedy & Eberhard (Mech. Mach. Theory 41:749---777, 2006) . A brief introduction of the essential modeling techniques is first presented, followed by a review of the practical alternatives of sensor systems that can help scientists or engineers to choose the appropriate sensors for their applications. It followed by the main goal of this paper with a comprehensive review of the control strategies for the flexible manipulators and flexible joints that were studied in recent literatures. The issues for controlling flexible manipulators are highlighted. Most of the noteworthy control techniques that were not covered in the recent surveys in references (Benosman & Vey Robotica 22:533---545, 2004; Dwivedy & Eberhard Mech. Mach. Theory 41:749---777, 2006) are then reviewed. It concludes by providing some possible issues for future research works.

Review of Control and Sensor System of Flexible Manipulator

Robots in machining

Incremental sheet metal forming in general and Single Point Incremental Forming (SPIF) specifically have gone through a period of intensive development with growing attention from research institutes worldwide. The result of these efforts is significant progress in the understanding of the underlying forming mechanisms and opportunities as well as limitations associated with this category of flexible forming processes. Furthermore, creative process design efforts have enhanced the process capabilities and process planning methods. Also, simulation capabilities have evolved substantially. This review paper aims to provide an overview of the body of knowledge with respect to Single Point Incremental Forming. Without claiming to be exhaustive, each section aims for an up-to-date state-of-the-art review with corresponding conclusions on scientific progress and outlook on expected further developments.

Single point incremental forming: state-of-the-art and prospects

The paper deals with geometric calibration of industrial robots and focuses on reduction of the measurement noise impact by means of proper selection of the manipulator configurations in calibration experiments. Particular attention is paid to the enhancement of measurement and optimization techniques employed in geometric parameter identification. The developed method implements a complete and irreducible geometric model for serial manipulator, which takes into account different sources of errors (link lengths, joint offsets, etc). In contrast to other works, a new industry-oriented performance measure is proposed for optimal measurement configuration selection that improves the existing techniques via using the direct measurement data only. This new approach is aimed at finding the calibration configurations that ensure the best robot positioning accuracy after geometric error compensation. Experimental study of heavy industrial robot KUKA KR-270 illustrates the benefits of the developed pose strategy technique and the corresponding accuracy improvement. Geometric calibration of industrial robotsReduction of the measurement noise impact by means of proper selection of the manipulator configurations in calibration experimentsA new industry-oriented performance measure for optimal measurement configuration selectionExperimental study of heavy industrial robot KUKA KR-270

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Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments

In this paper, a coupling methodology is involved and improved to correct the tool path deviations induced by the compliance of industrial robots during an incremental sheet forming task. For that purpose, a robust and systematic method is first proposed to derive the elastic model of their structure and an efficient FE simulation of the process is then used to predict accurately the forming forces. Their values are then defined as the inputs of the proposed elastic model to calculate the robot TCP pose errors induced by the elastic deformations. This avoids thus a first step of measurement of the forces required to form a test part with a stiff machine. An intensive experimental investigation is performed by forming a classical frustum cone and a non-symmetrical twisted pyramid. It validates the robustness of both the FE analysis and the proposed elastic modeling allowing the final geometry of the formed parts to converge towards their nominal specifications in a context of prototyping applications.

/pdf/off-line-compensation-of-the-tool-path-deviations-on-robotic-5b91uppata.pdf

Off-line compensation of the tool path deviations on robotic machining: Application to incremental sheet forming

This paper presents the design optimization of a Delta-like robot manipulator with respect to multiple global stiffness objectives For this purpose, a systematic elasto-geometrical modeling method is used to derive the analytical manipulator stiffness models by taking into account their link and joint compliances The models are then involved within a statistically sensitivity analysis of the influence of the geometric parameters on four global indices that describe the structure stiffness over the workspace Multi-Objective Genetic Algorithm, ie Pareto-optimization, is taken as the appropriate framework for the definition and the solution of the addressed multi-objective optimization problem Our approach is original in the sense that it is systematic and it can be applied to any serial and parallel manipulators for which stiffness is a critical issue

/pdf/design-optimization-of-a-delta-like-parallel-robot-through-5bvi8871xp.pdf

Design optimization of a Delta-like parallel robot through global stiffness performance evaluation

https://hal.archives-ouvertes.fr/hal-00917604/document

Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications

This paper presents a systematic procedure for the elastodynamic modeling of industrial robots that is applicable to either serial or parallel manipulators. This procedure is based on a 3-D space generalization of the equivalent rigid link system (ERLS) description, the finite-element method (FEM), and the Lagrange principle. It considers flexible links and joints, and leads to generic equations of motion expressed according to the angles of the actuated joints and the independent elastic degrees of freedom. An efficient identification process through modal analysis is detailed, and the description of damping and joint behavior according to the model application is discussed. The method is applied to a 3-D delta-like parallel structure and successfully validated through an experimental impact testing-based modal analysis.

/pdf/a-systematic-procedure-for-the-elastodynamic-modeling-and-1w6o7u87vw.pdf

A Systematic Procedure for the Elastodynamic Modeling and Identification of Robot Manipulators

https://hal.archives-ouvertes.fr/hal-00966854/document

Patrick Maurine

Papers

Off-line compensation of the tool path deviations on robotic machining: Application to incremental sheet forming

Design optimization of a Delta-like parallel robot through global stiffness performance evaluation

Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications

A Systematic Procedure for the Elastodynamic Modeling and Identification of Robot Manipulators

A Process/Machine coupling approach: Application to Robotized Incremental Sheet Forming