Design Of A Robotic Arm Manipulator Camera Unit...
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The Robotic Servicing Arm has extensive heritage from arms used in past Mars rover missions. The system design heavily leverages the flight-qualified robotic arm developed for Defense Advanced Research Projects Agency (DARPA)'s Spacecraft for the Universal Modification of Orbits and Front-end Robotics Enabling Near-term Demonstration (FREND) programs in the mid-2000s. In particular, it builds off of previous NASA and DARPA investments in motion control, robotic software frameworks, flex harnesses, force-torque sensor, joint design, and flight operations experience.
image: Researchers have developed a small and flexible agricultural robot for Synecoculture farming. It has a four-wheel mechanism, two axes stand, robotic arm, camera unit, maneuvering system, and farming tools. view more
This is a report on the No.2 debris retrieval robot that has been developed. While unit 1 was a machine built to demonstrate basic ideas, such as the arm mechanism, the robot that was designed and manufactured this time was developed with an emphasis on its structure and the functions that can be used at the decommissioning site. Only the ideas of a crawler that can run through a thin pipe and a telescopic arm mechanism to access debris were carried over from unit 1; all other parts for debris retrieval robot No.2 were redesigned. The crawler was made from metal with significantly increased rigidity to improve the running performance of the robot. In addition, to improve maneuverability, an omnidirectional camera unit was installed. As the view of this camera is not limited to the direction of travel of the robot, it makes it possible for the operator to have a better grasp of situations that the robot may encounter. The debris collection mechanism was changed to a more reliable mechanism that is not affected by the shape of the debris. The arm expansion and contraction mechanisms were also changed to a more reliable structure.
Abstract:Smart farming technology is becoming of the actual topics in the modern world of technology. Contemporary farming technology expands robot applications by using AI for the recognition of variable patterns. Moreover, the agriculture field demands a safety robot, due to the fragile surrounded confined space and it must be adaptable to extremely constrained working environments. Therefore, this research paper presents a novel tomato harvesting robot arm based on a continuum robot structure. The proposed continuum robot arm flexible backbone structure provides safety and efficient work in a confined workspace. This research paper consists of three parts: the first part of the paper contains the robot design and the newly designed tomato harvesting gripper tool. The second part of the paper describes the machine learning part for detecting matured tomatoes and the distance measuring technique with a single camera. The third part of the research paper explains robot kinematics and control algorithms. The final part of the research paper explains the experimental results. As a result of the conducted experiment, the tomato harvesting speed of the proposed robot was 56 s for a single tomato. Meanwhile, the tomato recognition accuracy was 96 percent.Keywords: tomato harvesting; gripper; continuum robot; tomato detection; design; agricultural robot
SEAmagine subs do have room for expansion so that owners can select to add more technology at any time. Typical additional options include devices such as specific underwater Ultra-HD cameras, 5-axis to 7-axis robotic manipulator arms, or more underwater lighting, but depending on the subs application, there are a wide range of
SHERLOC has a helper. The WATSON camera is also mounted on the "hand/" It is like a geologist's hand-lens, magnifying and recording textures of rock and soil targets that are studied by the SHERLOC mineral analyzer. Its position on the agile turret of the robotic arm means WATSON can be placed near targets within the arm's reach. WATSON is also an integral camera "assistant" to SHERLOC and PIXL. WATSON also provides valuable views of rover systems such as the wheels and instruments mounted low on the rover, out of Mastcam-Z's view.
The machine is also fitted with a small arm manipulator (SAM) featuring a fixed-focus colour camera to perform manipulation, interrogation and inspection. The User-Assist Package (UAP) of the robot facilitates semi-autonomous functionality and enhanced situational awareness.
This paper presents a robotic capture concept that was developed as part of the e.deorbit study by ESA. The defective and tumbling satellite ENVISAT was chosen as a potential target to be captured, stabilized, and subsequently de-orbited in a controlled manner. A robotic capture concept was developed that is based on a chaser satellite equipped with a seven degrees-of-freedom dexterous robotic manipulator, holding a dedicated linear two-bracket gripper. The satellite is also equipped with a clamping mechanism for achieving a stiff fixation with the grasped target, following their combined satellite-stack de-tumbling and prior to the execution of the de-orbit maneuver. Driving elements of the robotic design, operations and control are described and analyzed. These include pre and post-capture operations, the task-specific kinematics of the manipulator, the intrinsic mechanical arm flexibility and its effect on the arm's positioning accuracy, visual tracking, as well as the interaction between the manipulator controller and that of the chaser satellite. The kinematics analysis yielded robust reachability of the grasp point. The effects of intrinsic arm flexibility turned out to be noticeable but also effectively scalable through robot joint speed adaption throughout the maneuvers. During most of the critical robot arm operations, the internal robot joint torques are shown to be within the design limits. These limits are only reached for a limiting scenario of tumbling motion of ENVISAT, consisting of an initial pure spin of 5 deg/s about its unstable intermediate axis of inertia. The computer vision performance was found to be satisfactory with respect to positioning accuracy requirements. Further developments are necessary and are being pursued to meet the stringent mission-related robustness requirements. Overall, the analyses conducted in this study showed that the capture and de-orbiting of ENVISAT using the proposed robotic concept is feasible with respect to relevant mission requirements and for most of the operational scenarios considered. Future work aims at developing a combined chaser-robot system controller. This will include a visual servo to minimize the positioning errors during the contact phases of the mission (grasping and clamping). Further validation of the visual tracking in orbital lighting conditions will be pursued.
Figure 3. Robotic arm in stretched and stowed configurations with gripper and stereo camera system attached (Top). Explosion view of the integrated joint design for the robotic manipulator (Bottom, Left) and ROKVISS experiment with heritage joint design outside the Zvezda service module aboard the ISS (Bottom, Right).
The Bravo 5 is a 5-Function manipulator that opens up new compact inspection andintervention opportunities for service providers, researchers, and other operators. The formfactor was specifically designed for industry-leading inspection-class ROVs making it a ready-to-go option for existing fleets.
The Bravo 7 is a 7-Function manipulator that opens up new compact inspection andintervention opportunities for service providers, researchers, and other operators. The formfactor was specifically designed for industry-leading inspection-class ROVs making it a ready-to-go option for existing fleets.
This paper depicts a remote vision-based manual motion control of five degrees of freedom (DoF) articulated industrial robotic arm intended for teleoperation. Remotely operated robot arms are now involved in handling heavy loads, detrimental materials or to explore uninhabitable spaces. In this light, a robotic system is developed in this paper to administrate this manipulation tasks from a distance in order to improve job safety and to alleviate the function of professionals. The proposed system carries a modular mechanical design for simplifying the function and maximizing the performance of the robot arm. The kinematic design of the 5 DOF robotic arm is carried out first to develop a sophisticated model that reflects the motion in the real world. The verification of the kinematic model is performed by observing the output response obtained from the simulation study. The robotic system considered in this study is a fixed base robotic system where the position of the robotic manipulator is determined by the operator. Before conveying the developed system to the real world, the computer-aided design is accomplished. Thereafter, the Live camera feeds are taken by a wide-angle camera, and the data bits are transmitted to a base station. A human operator then manipulates the robot arm using a controller according to the received camera feeds. An IEEE 802.11 standard communication technique is adopted to establish a three-way communication path. The paper presents the mechanical design along with the kinematic analysis, simulation studies and its application to real world explicates the comprehensive control over its performance.
An articulated robotic arm is a class of programmable mechanical arm with rotary joints which performs likewise to a human arm . This robotic arm can accomplish manipulation tasks either automatically or by a human operator. While automatic arming is necessitated for the repetitive and continuous operation in a factory, the human-operated ones are required for manual operation. As the manual one is controlled from a distance, different models of communication technology (i.e. Bluetooth, Wi-fi) are in the catalog for this contrivance. This paper presents the kinematic modeling and mechanical design of a five Degrees of freedom (DoF) remote vision based manually operated robotic arm where the data is transferred over the wi-fi technology. 781b155fdc