Individual manipulators are limited by their vertical total load capacity. This places a fundamen... more Individual manipulators are limited by their vertical total load capacity. This places a fundamental limit on the weight of loads that a single manipulator can move. Cooperative manipulation with two arms has the potential to increase the net weight capacity of the overall system. However, it is critical that proper load sharing takes place between the two arms. In this work, we outline a method that utilizes mechanical intelligence in the form of a whiffletree. This system enables load sharing that is robust to position deviations between the two arms. The whiffletree utilizes pneumatic tool changers which enable autonomous attachment/detachment. We outline the overall design of a whiffletree for dual-arm manipulation. We also illustrate how this type of mechanical intelligence can greatly simplify cooperative control. Lastly, we use physical experiments to illustrate enhanced load capacity. Specifically, we show how two UR5 manipulators can re-position a 7 kg load. This load would...
Purpose This paper aims to describe an information model, the Canonical Robot Command Language (C... more Purpose This paper aims to describe an information model, the Canonical Robot Command Language (CRCL), which provides a high-level description of robot tasks and associated control and status information. Design/methodology/approach A common representation of tasks was used that is understood by all of the resources required for the job: robots, tooling, sensors and people. Findings Using CRCL, a manufacturer can quickly develop robotic applications that meet customer demands for short turnaround, enable portability across a range of vendor equipment and maintain investments in application development through reuse. Originality/value Industrial robots can perform motion with sub-millimeter repeatability when programmed using the teach-and-playback method. While effective, this method requires significant up-front time, tying up the robot and a person during the teaching phase.
Individual manipulators are limited by their vertical total load capacity. This places a fundamen... more Individual manipulators are limited by their vertical total load capacity. This places a fundamental limit on the weight of loads that a single manipulator can move. Cooperative manipulation with two arms has the potential to increase the net weight capacity of the overall system. However, it is critical that proper load sharing takes place between the two arms. In this work, we outline a method that utilizes mechanical intelligence in the form of a whiffletree. This system enables load sharing that is robust to position deviations between the two arms. The whiffletree utilizes pneumatic tool changers which enable autonomous attachment/detachment. We outline the overall design of a whiffletree for dual-arm manipulation. We also illustrate how this type of mechanical intelligence can greatly simplify cooperative control. Lastly, we use physical experiments to illustrate enhanced load capacity. Specifically, we show how two UR5 manipulators can re-position a 7 kg load. This load would...
Purpose This paper aims to describe an information model, the Canonical Robot Command Language (C... more Purpose This paper aims to describe an information model, the Canonical Robot Command Language (CRCL), which provides a high-level description of robot tasks and associated control and status information. Design/methodology/approach A common representation of tasks was used that is understood by all of the resources required for the job: robots, tooling, sensors and people. Findings Using CRCL, a manufacturer can quickly develop robotic applications that meet customer demands for short turnaround, enable portability across a range of vendor equipment and maintain investments in application development through reuse. Originality/value Industrial robots can perform motion with sub-millimeter repeatability when programmed using the teach-and-playback method. While effective, this method requires significant up-front time, tying up the robot and a person during the teaching phase.
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Papers by Stephen Balakirsky