相关论文: How to automate a kinematic mount using a 3D print…
3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement.…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the…
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a…
Integrating robot systems into manufacturing lines is a time-consuming process. In the era of digitalization, the research and development of new technologies is crucial for improving integration processes. Numerous challenges, including…
Robust and reliable ego-motion is a key component of most autonomous mobile systems. Many odometry estimation methods have been developed using different sensors such as cameras or LiDARs. In this work, we present a resilient approach that…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
In this research report details of design of a miniature wheel arrangement are presented. This miniature wheel arrangement is essentially a direction control mechanism intended for use on a mobile robot platform or base. The design is a…
This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which…
The plastic injection mold manufacturing process includes polishing operations when surface roughness is critical or mirror effect is required to produce transparent parts. This polishing operation is mainly carried out manually by skilled…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
This project explores the feasibility of remote patient monitoring based on the analysis of 3D movements captured with smartwatches. We base our analysis on the Kinematic Theory of Rapid Human Movement. We have validated our research in a…
In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We…
This paper introduces a novel, markerless, step-by-step, in-situ 3D Augmented Reality (AR) instruction method and its application - BRICKxAR (Multi 3D Models/M3D) - for small parts assembly. BRICKxAR (M3D) realistically visualizes rendered…
A pan-tilt camera system has been adopted by a variety of fields since it can cover a wide range of region compared to a single fixated camera setup. Yet many studies rely on factory-assembled and calibrated platforms and assume an ideal…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…