Showing papers in "Industrial Robot-an International Journal in 2004"

Methods for haptic feedback in teleoperated robot-assisted surgery.

Abstract: Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not include significant haptic (force and tactile) feedback to the operator. This paper describes experiments to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon's performance. There exist a variety of sensing and control methods that enable haptic feedback, although a number of practical considerations, e.g. cost, complexity and biocompatibility, present significant challenges. The ability of teleoperated robot‐assisted surgical systems to measure and display haptic information leads to a number of additional exciting clinical and scientific opportunities, such as active operator assistance through “virtual fixtures” and the automatic acquisition of tissue properties.

A three-DOF compliant micromotion stage with flexure hinges

Abstract: Micromanipulation has enabled numerous technological breakthroughs in recent years, from advances in biotechnology to microcomponent assembly. Micromotion devices commonly use piezoelectric actuators (PZT) together with compliant mechanisms to provide fine motions with position resolution in the nanometre or even sub‐nanometre range. Many multiple degree of freedom (DOF) micromotion stages have parallel structures due to better stiffness and accuracy than serial structures. This paper presents the development of a three‐DOF compliant micromotion stage with flexure hinges and parallel structure for applications requiring motions in micrometres. The derivation of a simple linear kinematic model of the compliant mechanism is presented and simulation results before and after calibration are compared with results from finite element (FE) modeling and experiments. The position control system, which uses an experimentally determined constant‐Jacobian, and its performance are also presented and discussed.

Robotic friction stir welding

Abstract: The forces and torques associated with friction stir welding (FSW) are discussed as they relate to implementation of the welding process with industrial robots. Experimental results are presented that support the conclusions drawn from models developed by others. It is shown that even with heavy‐duty industrial robots with high stiffness, force feedback is important for successful robotic FSW. Methods of implementing force feedback are reviewed. Attention is paid to stability issues that arise with variations in tool rotation and travel speed. Successful implementations of robotic FSW are cited.

CAD interface for automatic robot welding programming

Abstract: Industrial robots play an important role in industry, due to their flexibility. Many applications (almost all that require human intervention) may be performed with advantages by robots. Nevertheless, set‐up operations, necessary when changing production models, are still tricky and time‐consuming. It is common to have detailed data of working pieces in computer aided design (CAD) files, resulting from product design and project. This information is not used satisfactorily, or even not used at all, for robot programming. In this paper, we propose a solution capable of extracting robot motion information from the CAD data.

A modular approach for the design of the Alicia3 climbing robot for industrial inspection

Abstract: The system proposed in this paper is the Alicia3 robot, which is based on the Alicia II module. Its aim is to inspect non‐porous vertical walls like those of aboveground petrochemical tanks, with a wide range of surface materials and cleanliness levels. To meet this aim, pneumatic‐like adhesion has been selected for the system. The system is also required to move over the surface at a suitable speed, to pass over obstacles and to have a suitable payload to carry mission‐specific instrumentation. The robot design mainly aimed at finding a solution with a high degree of modularity, so that it can easily be disassembled for maintenance purposes and to replace consumable parts such as the wheels and the sealing, making its design easier. Some onboard control algorithms have also been introduced to increase system reliability and reduce energy consumption.

Sensor integration in task‐level programming and industrial robotic task execution control

Abstract: Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task‐level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.

On-site three dimensional force sensing capability in a laparoscopic grasper

Abstract: Advancements in robotics have led to significant improvements in robot‐assisted minimally invasive surgery. This paper describes our design of an automated laparoscopic grasper with tri‐directional force measurement capability at the grasping jaws. The laparoscopic tool can measure normal, lateral, and longitudinal grasping forces while grasping soft tissue. Additionally, the tool can also be used to measure the tissue probing forces. Initial testing of the prototype has shown its ability to accurately characterize artificial tissue samples of varying stiffness and accurately measure the probing forces.

Griffon: a man‐portable hybrid UGV/UAV

Abstract: To demonstrate proof‐of‐concept of the Griffon man‐portable hybrid unmanned ground vehicle/unmanned aerial vehicle (UGV/UAV) based on the iRobot PackBot we developed the Griffon air mobility system consisting of a gasoline‐powered propeller engine, a steerable parafoil, and a radio‐controlled servo system. We integrated the AMS with a PackBot prototype, and we conducted ground and flight tests to validate this concept. The Griffon prototype was capable of remote‐controlled flight, take‐off, and landing. The Griffon achieved speeds of over 20 mph and altitudes of up to 200 feet. We demonstrated the feasibility of developing a man‐portable hybrid UGV/UAV. Future work may explore the possibilities for teleoperated, semi‐autonomous, and fully autonomous control using the Griffon concept. The parafoil wing limits the usability of this vehicle in windy conditions, but this could be addressed using a lightweight fixed wing instead. Man‐portable hybrid UGV/UAVs may be used by the military to perform reconnaissanc...

Laser processing of plastics

Abstract: This paper focuses on some of the presentations given at a technical workshop on “Laser processing of polymer‐based materials”, organised by Association of Industrial Laser Users. Applications in cutting and welding are discussed and specifically how different combinations of polymer materials and laser types produce different results. Applications are described that include pre‐weakening of car trims for integrated airbags and “on the fly” scribing of web materials used in packaging. In several of these applications, robots play an important role in manipulating the laser beam.

Vision‐based kinematic calibration of an H4 parallel mechanism: practical accuracies

Abstract: Presents the kinematic calibration of an H4 parallel prototype robot using a vision‐based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. To do so, the end‐effector pose (i.e. position and orientation) has to be measured with the utmost accuracy. Thus, first the practical accuracy of the low‐cost vision‐based measuring system is evaluated to have a precision in the order of magnitude of 10μ_it;m and 10−3° for a 1,024×768 pixel CCD camera. Second, the prototype is calibrated using the easy‐to‐install vision system, yielding a final positioning accuracy of the end‐effector reduced from more than 1cm down to less than 0.5mm. Also provides a discussion on the use of such a method on commercial systems.

Design requirements for a new robot for minimally invasive surgery

Abstract: Minimally invasive endoscopic surgery and minimally invasive surgery challenge surgical skills due to the operator's separation from the surgical field and the requirements for long instruments with limited dexterity. To overcome the drawbacks of conventional endoscopic instruments computer‐enhanced telemanipulation systems and robotic systems have been developed in the past. This paper summarizes the requirements for minimally invasive robotic assisted surgery and describes a new robot that has been developed at the German Aerospace Center (DLR). The discussion includes a description of the robotic arm, the appropriate control laws, as well as the requirements for actuated and sensorized instruments.

SAFER under vehicle inspection through video mosaic building

Abstract: The current threats to US security, both military and civilian, have led to an increased interest in the development of technologies to safeguard national facilities such as military bases, federal buildings, nuclear power plants, and national laboratories. As a result, the imaging, robotics, and intelligent systems (IRIS) laboratory at the University of Tennessee has established a research consortium, known as security automation and future electromotive robotics (SAFER), to develop, test, and deploy sensing and imaging systems. In this paper, we describe efforts made to build multi‐perspective mosaics of infrared and color video data for the purpose of under vehicle inspection. It is desired to create a large, high‐resolution mosaic that may be used to quickly visualize the entire scene shot by a camera making a single pass underneath the vehicle. Several constraints are placed on the video data in order to facilitate the assumption that the entire scene in the sequence exists on a single plane. Therefore, a single mosaic is used to represent a single video sequence.

Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers

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Adhesive bonding of car body parts by industrial robot

Abstract: With the trend towards lightweight body structures for automobiles, new joining technologies are evolving. This paper highlights the latest application – that of adhesive bonding major components for the Aston Martin DB9 sports car.

Building an energetic model to evaluate and optimize power consumption in walking robots

Abstract: An energetic model for walking robots based on both dynamic and actuator models is proposed in this paper. While applied to walking machines, this method allows the evaluation of the influence of leg configuration, body weight, and gait parameters on power consumption. The model is validated by using genetic algorithms to identify the unknown parameters, which enables it to be used as a tool to evaluate and optimize the performance of a legged robot configuration according to the power consumption. This method has been applied to find the optimum stride length for the minimum energy expenditure of a biped prototype depending on the speed and payload, considering both level and slope walking.

State‐of‐the‐art welding and de‐burring robots

Abstract: This paper describes the development of a variety of robot welding and grinding systems. Also discusses the benefits of running arc welding cables within the body of the robot and the use of a computer controlled welder. Also covers digitally controlled spot welding and communication with a supervisory computer. Finally, discusses de‐burring and the opportunities for further development in this area.

Development of automated chopper gun trajectory planning for spray forming

Abstract: Automated chopper gun trajectory planning (CGTP) for spray forming is highly desirable for today's automotive manufacturing. Generating chopper gun trajectories for free‐form surfaces to satisfy material distribution requirements is still highly challenging due to the complexity of the problems. In this paper, a user‐friendly software for automated CGTP has been developed. The CGTP software can take different formats of the CAD models of parts. A chopper gun trajectory is generated based on the CAD model of a part, chopper gun model, and constraints. A part is partitioned into patches to satisfy the given constraints. A trajectory integration algorithm is developed to integrate the trajectories of the patches to form a trajectory for the part. The CGTP software has been tested by Ford Motor Company and achieved satisfactory results.

Biomimicing motion control of the WorkPartner robot

Abstract: WorkPartner (WP), is the prototype of a mobile centaur‐like service robot designed to work interactively with humans in an outdoor environment. It moves using four wheeled legs and has a human‐like upper body. Tasks executed by the robot are similar to those that a human can do; the robot may replace or work together with people. Mobility is based on a hybrid system, which combines the benefits of both legs and wheels to provide good terrain negotiating capability and a large velocity range on variable ground. The robot is powered by a hybrid power system with electrical actuation and energy storage in the form of gasoline. The robot is equipped with a human‐like two‐hand manipulator. The long‐term goal is to develop an adaptive and learning robot, which can carry tools and work interactively with humans.

A cobotic solution for surgical applications

Abstract: The French commissariat for atomic energy (CEA) has developed the Surgicobot to assist surgeons in performing high risk maxillo‐facial and orthopaedic operations. The solution makes use of Virtuose, a CEA‐developed haptic system that provides a force‐feedback function to prevent the surgeon from moving his instruments too close to vital nerves.

Exploring the micro‐ and nanoworld with cubic centimetre‐sized autonomous microrobots

Abstract: In order to bridge the increasing gap between the micro‐ and nanotechnologies, a European consortium is currently developing and investigating a cluster of mobile, wireless cubic centimetre‐sized microrobots. The control and sensor issues which are to be solved for such a robot system are demanding. This paper describes the work carried out by one of the project partners. An interferometrical principle employing the so‐called “mechanical” interferometer based on the Moire‐effect is used for the position sensor system. Further sensor systems involve “local” microscope cameras, for which the extraction of depth information is crucial.

Development of mobile system using leg‐type crawler for rough terrain

Abstract: The purpose of this study is to develop a new mobile system using “leg‐type crawler” mechanism. Our proposed “leg‐type crawler” mechanism realizes flexible mobility on rough terrain environments. The mobile system, which consists of four leg‐type crawler units including mechanisms and controller, can adopt several moving configurations. Since we adopt unimodular structure for the leg‐type crawlers, we can replace the legs easily. This paper shows the outline of the proposed leg‐type crawler units, as well as basic experimental results, proposal of basic control law for this system and verification by experiment.

Adding extra sensitivity to the SMART non‐linear actuator using sensor fusion

Abstract: The prospect of using humanoid robots in practical applications attracts an important research effort and the latest steps forward in robot technology show many remarkable achievements where design aspects, control systems and software evolution regarding humanoid machines have been realised. While aiming to improve humanoid robots' overall performance, it is required that they could work for a long time spending minimum energy without losing their kinematic skills. In this direction, a new kind of non‐linear actuator, SMART, based on quasi‐resonance principle, has been developed by the Industrial Automation Institute to improve the overall performance of biped locomotion.

BMW chooses innovative robotic machining system for axle carriers

Abstract: BMW axle design has evolved considerably in recent years to reduce weight and increase performance. The latest developments have created the need for a relatively precise finish machining operation on axle carriers. To perform this machining, BMW uses innovative Tricept robots due to the high level of flexibility they offer. The automaker has installed two highly automated machining systems based on Tricept robots at its Dingolfing plant. Their capacity, operating three shifts a day, 5 days a week, is more than 1,400 parts per day.