Arm control / Planning

manfredarm

Description

The Light Weight Robot UC3M-1 (LWR-UC3M-1) is a robotic arm with 6 degrees of freedom that allows the robot to do manipulation tasks in human environments. Its main features are the following:

  • Kinematic chain similar to the human one.
  • Total weight of 18 kilograms.
  • Maximum load capability of 4.5 kilograms at the end effector.
  • Maximum distance reached around 955 millimeters.

The low-level control of the arm is done with a PMAC PCI control target which allows simultaneous control of 8 motors. Besides, different high level kinematic control techniques have been developed in order to generate the required trajectories for multiple tasks. Among these techniques, the most important ones are:

  • Cartesian control based on the analytical Jacobian matrix, which gives us the relationship between the cartesian velocities at the end effector and the required velocities in the articulations in order to execute the required trajectory. This control scheme is based on the one proposed by Sciavicco y Siciliano in “Modelling and control of robot manipulators”, 2005.
  • Cartesian control based on the the calculation of the inverse kinematics of the manipulator using evolutionary algorithms. In this case, the Differential Evolution algorithm is used to calculate the motors positions that allow the end effector to reach the desired cartesian point in the space.

Laser Scan

Entries:
Towards Robotic Garment Folding: A Vision Approach for Fold Detection
IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2016, Bragança, Portugal
D. Estévez Juan G. Victores S. Morante
Robotic Ironing With a Humanoid Robot Using Human Tools
IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2017, Coimbra, Portugal
D. Estévez R. Fernandez-Fernandez Juan G. Victores
Improving and Evaluating Robotic Garment Unfolding: A Garment-Agnostic Approach
IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2017, Coimbra, Portugal
D. Estévez R. Fernandez-Fernandez Juan G. Victores
Robotic Ironing with 3D Perception and Force/Torque Feedback in Household Environments
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Vancouver, Canada
D. Estévez Juan G. Victores R. Fernandez-Fernandez

Entries:
RoboCity16: Open Conference on Future Trends in Robotics
chapter: Future Trends in Perception and Manipulation for Unfolding and Folding Garments pages: 333 – 340. CSIC , ISBN: 978-84-608-8452-1, 2016
D. Estévez Juan G. Victores
RoboCity16: Open Conference on Future Trends in Robotics
chapter: A New Generation of Entertainment Robots Enhanced with Augmented Reality pages: 129 – 136. CSIC , ISBN: 978-84-608-8452-1, 2016
D. Estévez Juan G. Victores C. Balaguer

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