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Full-Text Articles in Engineering
3d Mapping Using A Tof Camera For Self Programming An Industrial Robot, N Larkin, Zengxi Pan, S Van Duin, J Norrish
3d Mapping Using A Tof Camera For Self Programming An Industrial Robot, N Larkin, Zengxi Pan, S Van Duin, J Norrish
zengxi pan
Automated Offline Programing (AOLP) is a cost effective robot programming method. However, it relies on accurate CAD information of the work environment to perform optimally. Incorrect CAD data is a known source of error for AOLP systems. This paper introduces a new sensor based method of programming that extends the concept of AOLP. Using a ToF camera to map the environment, there is no reliance on CAD data. The problem of motion planning to efficiently map the environment is examined and changes to the motion planning algorithm are proposed and tested.
Note On Robot Control System Performance Evaluation, B Evans, Christopher Cook, Geoffrey Trott
Note On Robot Control System Performance Evaluation, B Evans, Christopher Cook, Geoffrey Trott
Christopher Cook
No abstract provided.
A Major Robot An Automation Initiative For Australian Manufacturers', B Moore, Christopher Cook
A Major Robot An Automation Initiative For Australian Manufacturers', B Moore, Christopher Cook
Christopher Cook
No abstract provided.
Robot Dynamic Control, J Tehve, Christopher Cook
Robot Dynamic Control, J Tehve, Christopher Cook
Christopher Cook
No abstract provided.
Dynamic Control Of A Robot Manipulator Using A Hardware Matrix Multiplier, J Tehve, Christopher Cook
Dynamic Control Of A Robot Manipulator Using A Hardware Matrix Multiplier, J Tehve, Christopher Cook
Christopher Cook
No abstract provided.
Effect Of A Robot's Geometrical Parameters On Its Optimal Dynamic Performance, M. Yousef Ibrahim, Christopher D. Cook, A K. Tieu
Effect Of A Robot's Geometrical Parameters On Its Optimal Dynamic Performance, M. Yousef Ibrahim, Christopher D. Cook, A K. Tieu
Christopher Cook
This paper presents a study that was conducted at Monash University College - Gippsland on the effect of a robot’s geometrical parameters on its dynamic performance. This research was undertaken in pursuit of an optimal dynamic performance of industrial robots. In this study an indicator was established to quantitatively measure the dynamic performance of a robot arm with respect to changes in the geometrical parameters. Since the dynamic behaviour of a robot’s arm is largely dependent on its inertia terms; the performance indicator was based on the Logarithmic function of the sensitivity of the inertia matrix’s eigenvalues to changes in …
General Purpose Robot Controller, Christopher Cook, T Vu-Dinh
General Purpose Robot Controller, Christopher Cook, T Vu-Dinh
Christopher Cook
No abstract provided.
Controller For Two-Dimensional Robot Arms, Christopher Cook, T Vu-Dinh
Controller For Two-Dimensional Robot Arms, Christopher Cook, T Vu-Dinh
Christopher Cook
No abstract provided.
Dynamics Characteristics Of A Scara Robot Subject To Nc2 Velocity Trajectories With Different Payloads, M Ibrahim, Christopher Cook
Dynamics Characteristics Of A Scara Robot Subject To Nc2 Velocity Trajectories With Different Payloads, M Ibrahim, Christopher Cook
Christopher Cook
This paper presents a computer study that was conducted on the dynamics of arobot of aSCARA geometrical configuration. All links of this robot were moving in NC2 (Numerical Control 2) velocitytrajectories. The study was conducted to investigate the effect of payload variation on the gravitational (potential) as well as inertial and centripetal/coriolis (kinetic) forces. The results of these effects are discussed. All the simulation software was written in extended ANSI FORTRAN 77 and run on an HP 9000/550 computer using the UNIX operating system.
Safety Of Industrial Robot Installations In Australia, Christopher Cook
Safety Of Industrial Robot Installations In Australia, Christopher Cook
Christopher Cook
No abstract provided.
Dynamic Behaviour Of A Scara Robot With Links Subjected To Different Velocity Trajectories, Christopher Cook, M Ibrahim, A Tieu
Dynamic Behaviour Of A Scara Robot With Links Subjected To Different Velocity Trajectories, Christopher Cook, M Ibrahim, A Tieu
Christopher Cook
The dynamics of a mechanical manipulator have the inherent characteristics of being highly non-linear and strongly coupled due to the interaction of the inertial, centripetal, coriolis and gravitational forces. These characteristics produce difficulties in predicting the dynamic behaviour of a given manipulator's structure. These interactive forces depend largely on the geometrical configuration and operational conditions of a manipulator. Therefore, it is essential to investigate the dynamics behaviour under different conditions in order to obtain an optimal design. This paper presents a study of the dynamics behaviour of a robot's arm with particular reference to the mechanical manipulator being designed by …
Adaptive Decentralized Dynamic Control For Robot Manipulators, M Liu, Christopher Cook
Adaptive Decentralized Dynamic Control For Robot Manipulators, M Liu, Christopher Cook
Christopher Cook
No abstract provided.
A General Purpose Robot Controller, Christopher Cook, T Vu-Dinh
A General Purpose Robot Controller, Christopher Cook, T Vu-Dinh
Christopher Cook
No abstract provided.
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
Aaron M. Hoover
Compliant mechanisms provide an attractive alternative to conventional rigid mechanisms in the design of ultra low-cost precision positioning systems. The desirable performance characteristics of these mechanisms including freedom from backlash, long life, light weight, and ease of fabrication/assembly make them an ideal solution to the problem of inexpensive precision positioning for microassembly. This paper presents a design for a 2 axis precision positioning system which makes use of large displacement compliant mechanisms, a room temperature and pressure molding fabrication process, commodity hardware, and a piecewise linear interpolation compensation scheme to achieve positioning performance suitable for automated assembly of sub-centimeter robotic …
Reproduction Of Human Manipulation Skills In A Robot, Shen Dong, Fazel Naghdy
Reproduction Of Human Manipulation Skills In A Robot, Shen Dong, Fazel Naghdy
Professor Fazel Naghdy
Research is underway to explore the feasibility of reconstructing human manipulation skills in complex constrained motion by tracing and learning the manipulation performed by the operator. The approach consists of two major steps. In the first step the constraints acquired from operator’s trajectory is generalised as manipulation skills. In the second step, the manipulation skills are transformed to a robotic trajectory to perform the task. Operator’s trajectory is recorded from a haptic-rendered virtual environment. Proxy algorithm which is used in haptic collision detection has been developed and applied to the physical model of the process. In this work a six …