| 1. |
- Emami, Reza, et al.
(författare)
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A remotely-accessible reconfigurable platform for robotics education
- 2013
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Ingår i: ASEE Annual Conference and Exposition, Atlanta, USA, 23-26 June 2013.
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Konferensbidrag (refereegranskat)abstract
- This paper discusses a new remotely-Accessible, serial-manipulator platform for robotics education. The hardware is an 18 degree of freedom manipulator that can lock any combination of its joints in any position in their continuous range to emulate a manipulator with fewer degrees of freedom. The manipulator is controlled by an integrated design and simulation environment running on a host workstation, which links through a target processor to the manipulator hardware. The software application is remotely accessible by students via an eLaboratory portal, which manages students' remote experimentation and on-line collaboration. The purpose of this system is to provide a unified educational platform with which students can experience a wide range of serial-manipulator configurations without the need of multiple hardware setups. © American Society for Engineering Education, 2013.
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| 2. |
- Emami, Reza, et al.
(författare)
-
System, method and computer program for autonomously emulating robot manipulators of continuously-varying configurations
- 2013
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Patent (populärvet., debatt m.m.)abstract
- The invention is a modular and autonomously reconfigurable manipulator system which introduces a new dimension to the versatility of robot manipulation for diverse tasks. The hardware component is a redundant mechanism which can lock any number of its joints at any relative position to form a particular configuration with a certain number of degrees of freedom and specific values for kinematic, dynamic and control parameters, optimum for a given task to be performed. The process of identifying the optimum configuration for a given task and implementing it on the manipulator is done autonomously through the system software. Therefore, no manual interaction is required to form a new configuration most suitable for a given task. The kinematic, dynamic and control parameters of the system can vary continuously enabling the manipulator to form virtually an infinite number of configurations.
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| 3. |
- Kereluk, Jason Alexander, et al.
(författare)
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A New Modular, Autonomously Reconfigurable Manipulator Platform
- 2015
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 12
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Tidskriftsartikel (refereegranskat)abstract
- This paper discusses the design and development of a new Modular, Autonomously Reconfigurable Serial manipulator platform for advanced manufacturing, termed as the MARS manipulator. The platform consists of i) an 18-Degree-of-Freedom (DOF) serial-link manipulator capable of locking any of its joints at any position in their continuous range, such that it can emulate fewer-DOF serial manipulators with different kinematic and dynamic parameters, and ii) an integrated simulation and design environment that provides control over the manipulator hardware as well as a toolset for the design, implementation and optimization of a desired manipulator configuration for a given task. The effectiveness of the MARS manipulator to adapt its configuration to various tasks is examined by assuming two well-known configurations, SCARA and articulated, and by performing a specific task with each of them. The variation in effectiveness of the two configurations in terms of the end-effector trajectory, end-effector accuracy and power consumption is discussed. Further, these configurations are optimized with respect to their performance accuracy, and compared to their pre-optimized versions. Finally, the accuracy model of the simulation is compared against the physical hardware system, running the same task.
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| 4. |
- Kereluk, Jason A., et al.
(författare)
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Task-based optimization of reconfigurable robot manipulators
- 2017
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Ingår i: Advanced Robotics. - : Taylor & Francis. - 0169-1864 .- 1568-5535. ; 31:16, s. 836-850
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Tidskriftsartikel (refereegranskat)abstract
- Reconfigurable Manipulators are structurally redundant robots that utilize a subset of their joints to perform a specific task optimally. This paper presents a method of finding a task-based optimal configuration for a new type of reconfigurable robot manipulator, called the modular autonomously reconfigurable serial (MARS) manipulator. The reconfiguration optimization treats the joint space of the MARS manipulator as a 12-dimensional smooth configuration manifold. The manifold is discretized and ranked based on a variety of criteria, and then clustered into attractive and repellent regions. The user then specifies which regions are desired in the target configuration, and the manifold is reduced in dimension in order to maximize the number of attractive regions and minimize the number of repellent regions. Six manipulator configurations are synthesized using this approach, and their effectiveness is compared.
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