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"Parallel robots Programming."
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Cluster computing for robotics and computer vision
In this book, we look at how cluster technology can be leveraged to build better robots. Algorithms and approaches in key areas of robotics and computer vision, such as map building, target tracking, action selection and landmark learning, are reviewed and cluster implementations for these are presented.
eBook
A novel real-time tension distribution method for cable-driven parallel robots
The tension distribution problem of cable-driven parallel robots is inevitable in real-time control. Currently, iterative algorithms or geometric algorithms are commonly used to solve this problem. Iterative algorithms are difficult to improve in real-time performance, and the tension obtained by geometric algorithms may not be continuous. In this paper, a novel tension distribution method for four-cable, 3-DOF cable-driven parallel robots is proposed based on the wave equation. The tension calculated by this method is continuous and differentiable, without the need for iterative computation or geometric centroid calculations, thus exhibiting good real-time performance. Furthermore, the feasibility and rationality of this algorithm are theoretically proven. Finally, the real-time performance and continuity of cable tension are analyzed through a specific numerical example.
Journal Article
Whole-body control of redundant hybrid cable-driven robot with manipulator: hierarchical quadratic programming approach
A redundant Hybrid Cable-Driven Robot (HCDR), which is an integration platform of a robotic manipulator and a Cable-Driven Parallel Robot (CDPR) has numerous advantages including an extensive operational range and high performance in task execution. However, it is difficult to control the redundant HCDR due to the dynamic coupling between a manipulator and the CDPR and the redundancy resolution. To solve these issues, this paper introduces a novel whole-body controller strategy for the redundant HCDR by using Hierarchical Quadratic Programming (HQP). First, the whole-body nonlinear dynamics with cable tensions and manipulator torques is proposed. Then, with the HQP-based scheme, the proposed controller can generate the optimal tensions and torques for the redundant HCDR to generate whole-body motions without dynamic interference between the CDPR and the manipulator. In addition, singularity and joint limit avoidance algorithms are proposed in this paper, because the proposed controller can handle prioritized tasks with inequality constraints as well as equality constraints. The proposed control scheme has been implemented on the redundant HCDR with 8-cables and 7-DoFs manipulator, and its performance is demonstrated through various scenarios in high-precision simulator.
Journal Article
Efficiently reconfiguring a connected swarm of labeled robots
When considering motion planning for a swarm of
n
labeled robots, we need to rearrange a given start configuration into a desired target configuration via a sequence of parallel, collision-free moves. The objective is to reach the new configuration in a minimum amount of time. Problems of this type have been considered before, with recent notable results achieving
constant stretch
for parallel reconfiguration: If mapping the start configuration to the target configuration requires a maximum Manhattan distance of
d
, the total duration of an overall schedule can be bounded to
O
(
d
)
, which is optimal up to constant factors. An important constraint for coordinated reconfiguration is to keep the swarm connected after each time step. In previous work, constant stretch could only be achieved if
disconnected
reconfiguration is allowed, or for scaled configurations of
unlabeled
robots; on the other hand, the existence of non-constant lower bounds on the stretch factor was unknown. We resolve these major open problems by (1) establishing a lower bound of
Ω
(
n
)
for connected, labeled reconfiguration and, most importantly, by (2) proving that for scaled arrangements, constant stretch for connected, labeled reconfiguration can be achieved. In addition, we show that (3) it is NP-complete to decide whether a makespan of 2 can be achieved, while it is possible to check in polynomial time whether a schedule of makespan 1 exists.
Journal Article
A novel parallel ant colony optimization algorithm for mobile robot path planning
With the continuous development of mobile robot technology, its application fields are becoming increasingly widespread, and path planning is one of the most important topics in the field of mobile robot research. This paper focused on the study of the path planning problem for mobile robots in a complex environment based on the ant colony optimization (ACO) algorithm. In order to solve the problems of local optimum, susceptibility to deadlocks, and low search efficiency in the traditional ACO algorithm, a novel parallel ACO (PACO) algorithm was proposed. The algorithm constructed a rank-based pheromone updating method to balance exploration space and convergence speed and introduced a hybrid strategy of continuing to work and killing directly to address the problem of deadlocks. Furthermore, in order to efficiently realize the path planning in complex environments, the algorithm first found a better location for decomposing the original problem into two subproblems and then solved them using a parallel programming method-single program multiple data (SPMD)-in MATLAB. In different grid map environments, simulation experiments were carried out. The experimental results showed that on grid maps with scales of 20$ \\times $20, 30$ \\times $30, and 40$ \\times $40 compared to nonparallel ACO algorithms, the proposed PACO algorithm had less loss of solution accuracy but reduced the average total time by 50.71, 46.83 and 46.03%, respectively, demonstrating good solution performance.
Journal Article
Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical Robot
A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired amphibious spherical robot (ASR) can realise the path-planning control movement and achieve collision avoidance. Due to the special underwater environments, thrusters and diamond parallel legs (DPLs) are installed in the lower hemisphere to realise accurate motion control. A propulsion model for a novel water-jet thruster based on experimental analysis and a modified Denavit–Hartenberg (MDH) algorithm are developed for multiple degrees of freedom (MDOF) to realize high-precision and high-speed motion control. Simulations and experiments verify that the effectiveness of the GCOP and SQP algorithms can realize reasonable path planning and make it possible to improve the flexibility of underwater movement with a small estimation error.
Journal Article
Methodology for Modeling Coupled Rigid Multibody Systems Using Unitary Quaternions: The Case of Planar RRR and Spatial PRRS Parallel Robots
Quaternions are used in various applications, especially in those where it is necessary to model and represent rotational movements, both in the plane and in space, such as in the modeling of the movements of robots and mechanisms. In this article, a methodology to model the rigid rotations of coupled bodies by means of unit quaternions is presented. Two parallel robots were modeled: a planar RRR robot and a spatial motion PRRS robot using the proposed methodology. Inverse kinematic problems were formulated for both models. The planar RRR robot model generated a system of 21 nonlinear equations and 18 unknowns and a system of 36 nonlinear equations and 33 unknowns for the case of space robot PRRS; both systems of equations were of the polynomial algebraic type. The systems of equations were solved using the Broyden–Fletcher–Goldfarb–Shanno nonlinear programming algorithm and Mathematica V12 symbolic computation software. The modeling methodology and the algebra of unitary quaternions allowed the systematic study of the movements of both robots and the generation of mathematical models clearly and functionally.
Journal Article
Visual programming language environment for different IoT and robotics platforms in computer science education
This study presents the authors’ recent research and application of a new visual programming language and its development environment: VIPLE (Visual IoT/Robotics Programming Language Environment) at Arizona State University (ASU). ASU VIPLE supports a variety of IoT devices and robots based on an open architecture. Based on computational thinking, VIPLE supports the integration of engineering design process, workflow, fundamental programming concepts, control flow, parallel computing, event-driven programming, and service-oriented computing seamlessly into a wide range of curricula, such as introduction to computing, introduction to engineering, service-oriented computing, and software integration. It is actively used at ASU in several sections of FSE 100: Introduction to Engineering and in CSE 446: Software Integration and Engineering, as well as in several other universities worldwide.
Journal Article
Product disassembly planning and task allocation based on human and robot collaboration
Disassembly is a main phase of maintenance, remanufacturing and the end of life. It is always accomplished by human or robot. Manual disassembly has low effectiveness and high work cost whereas robotic disassembly is not sufficiently flexible to operate difficult operations. The use of robots in handling and assembling of parts becomes a necessity. Disassembly operations by simultaneously human and robot can enhance the productivity and reduce the product cost. This paper presents an interactive disassembly planning (DP) approach with human and robot collaboration (HRC). The proposed approach generates optimal DP strategies with human and robots tasks allocations. Moreover, based on an industrial manufacturing database and a set of relationship matrices, the proposed approach estimates the total disassembly time of the generated DP with respect of the minimum change of dismantling directions and tools. To highlight the added value of the proposed approach, an industrial case study, chosen from the literature, is treated. To demonstrate the reduction of disassembly time and product cost, a comparative study between the DP given by a sequential approach and the proposed one which integrates both, HRC and parallel disassembly is done.
Journal Article