Journal of engineering materials and technology, 2001
Open die forging is a process in which products are made through repeated, incremental plastic de... more Open die forging is a process in which products are made through repeated, incremental plastic deformations of a workpiece. Typically, the workpiece is held by a manipulator, which can position the workpiece through program control between the dies of a press. The part programs are generated with an empirically derived parameter, called the spread coefficient, whose value is subject to some contention. In this work, we demonstrate how process information can be used in real time to derive the actual spread coefficient for a given workpiece as it is being formed. These measurements and calculations occur in real time, and can be used to regenerate part programs to optimize the forming process, or can be used to adaptively control each incremental deformation of the workpiece.
Transactions of the Canadian Society for Mechanical Engineering
Exploration with a robotic hand is a method for measuring the shape and location of objects. This... more Exploration with a robotic hand is a method for measuring the shape and location of objects. This information may be used to recognize the object from a given set, or to generate a model of the object. A novel two-dimensional exploration method employing multiple wrapping grasps without tactile sensors is presented. An object shape model is produced from the finger position information. An efficient procedure for recognizing the object from a given reference set is presented. Experiments are conducted with a two-fingered robotic hand with five degrees-of-freedom. Objects with circular, square and triangular cross-sections are explored, modeled and recognized using as few as six grasps.
Proceedings 2001 Icra Ieee International Conference on Robotics and Automation, Feb 1, 2001
... The smaller the value of S the more insensitive or robust the planned grasp is to ... In [7] ... more ... The smaller the value of S the more insensitive or robust the planned grasp is to ... In [7] Ponce and Faverjon present their method for computing optimal three-finger force-closure grasps of ... for any triple of con-tact points chosen within them, the corresponding grasp exhibits force ...
Proceedings Ieee International Conference on Robotics and Automation, May 19, 2008
Abstract This paper describes the development of a novel vision-based modeling and grasping sys... more Abstract This paper describes the development of a novel vision-based modeling and grasping system for three-dimensional (3D) objects whose shape and location are unknown a priori. Our approach integrates online computer vision-based 3D object modeling with online 3D ...
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001
... The smaller the value of S the more insensitive or robust the planned grasp is to ... In [7] ... more ... The smaller the value of S the more insensitive or robust the planned grasp is to ... In [7] Ponce and Faverjon present their method for computing optimal three-finger force-closure grasps of ... for any triple of con-tact points chosen within them, the corresponding grasp exhibits force ...
SUMMARYAn active force control system for robotic deburring based on an active end effector is de... more SUMMARYAn active force control system for robotic deburring based on an active end effector is developed. The system utilizes a PUMA-560 six axis robot. The robot's structural dynamics, positioning errors, and the deburring cutting process are examined in detail. Based on ARMAX plant models identified using the least squares method, a discrete PID controller is designed and tested in real-time. The control system is shown to maintain the force within l N of the reference, and reduce chamfer depth errors to 0.12 mm from the 1 mm possible without closed-loop control.
The design and implementation of a novel dexterous robotic hand is described. To Provide flexibil... more The design and implementation of a novel dexterous robotic hand is described. To Provide flexibility of application the design features three fingers, each position or force controllable in X-Y-Z, and a large workspace (400 mm dia. × 75 mm deep). These requirements plus the need for adequate strength (i.e. force and stiffness) are in conflict with the need to keep the mass within the payload capacity of common robots. These contrary objectives are met by designing a novel hybrid parallel-serial finger mechanism, a lightweight frame and pneumatic servos for finger actuation. The implemented design is verified experimentally, and may be scaled for other applications.
Journal of Manufacturing Science and Engineering, 1996
New results quantifying the performance of a vision and force sensor based robotic deburring syst... more New results quantifying the performance of a vision and force sensor based robotic deburring system at high feedrates and on stainless steel parts are presented. The performance with stainless steel is similar to that achieved with mild steel due to adaptation of the process model. Increasing the feedrate from 25 mm/s to 50 mm/s did not greatly affect deburring performance and could be used to reduce cycle time. The dual-sensor approach is shown to be 14 times more reliable than a single sensor solution. The overall accuracy of the system is ±30 μm for straight edged parts, and ±60 μm for 2-d edged parts with geometry similar to those tested.
International Journal of Machine Tools and Manufacture, 2009
Vibration assistance has increasing applications in metal removal processes. This method induces ... more Vibration assistance has increasing applications in metal removal processes. This method induces high-frequency and low-amplitude vibration in the feed direction during cutting, and has the potential to reduce cutting forces leading to improved surface quality and reduced ...
... Page 2. Mass Load X Y Figure 1. Pneumatic servo positioning system ... cbf 0.21 Cbd =-0.33 Th... more ... Page 2. Mass Load X Y Figure 1. Pneumatic servo positioning system ... cbf 0.21 Cbd =-0.33 The physical meaning of the above equations will be ex-plained briefly in section 3. Although the nonlinearity of this system is serious, a linearized model was derived. ...
... A free piston pneu-matic compressor was proposed as a mobile robot power source in [6 ... con... more ... A free piston pneu-matic compressor was proposed as a mobile robot power source in [6 ... controlled by two three-way proportional valves and a multiple-input multiple-output sliding modecontroller. ... The sliding of the rod, the LVDT sensor and slide table supporting the payload ...
Journal of engineering materials and technology, 2001
Open die forging is a process in which products are made through repeated, incremental plastic de... more Open die forging is a process in which products are made through repeated, incremental plastic deformations of a workpiece. Typically, the workpiece is held by a manipulator, which can position the workpiece through program control between the dies of a press. The part programs are generated with an empirically derived parameter, called the spread coefficient, whose value is subject to some contention. In this work, we demonstrate how process information can be used in real time to derive the actual spread coefficient for a given workpiece as it is being formed. These measurements and calculations occur in real time, and can be used to regenerate part programs to optimize the forming process, or can be used to adaptively control each incremental deformation of the workpiece.
Transactions of the Canadian Society for Mechanical Engineering
Exploration with a robotic hand is a method for measuring the shape and location of objects. This... more Exploration with a robotic hand is a method for measuring the shape and location of objects. This information may be used to recognize the object from a given set, or to generate a model of the object. A novel two-dimensional exploration method employing multiple wrapping grasps without tactile sensors is presented. An object shape model is produced from the finger position information. An efficient procedure for recognizing the object from a given reference set is presented. Experiments are conducted with a two-fingered robotic hand with five degrees-of-freedom. Objects with circular, square and triangular cross-sections are explored, modeled and recognized using as few as six grasps.
Proceedings 2001 Icra Ieee International Conference on Robotics and Automation, Feb 1, 2001
... The smaller the value of S the more insensitive or robust the planned grasp is to ... In [7] ... more ... The smaller the value of S the more insensitive or robust the planned grasp is to ... In [7] Ponce and Faverjon present their method for computing optimal three-finger force-closure grasps of ... for any triple of con-tact points chosen within them, the corresponding grasp exhibits force ...
Proceedings Ieee International Conference on Robotics and Automation, May 19, 2008
Abstract This paper describes the development of a novel vision-based modeling and grasping sys... more Abstract This paper describes the development of a novel vision-based modeling and grasping system for three-dimensional (3D) objects whose shape and location are unknown a priori. Our approach integrates online computer vision-based 3D object modeling with online 3D ...
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001
... The smaller the value of S the more insensitive or robust the planned grasp is to ... In [7] ... more ... The smaller the value of S the more insensitive or robust the planned grasp is to ... In [7] Ponce and Faverjon present their method for computing optimal three-finger force-closure grasps of ... for any triple of con-tact points chosen within them, the corresponding grasp exhibits force ...
SUMMARYAn active force control system for robotic deburring based on an active end effector is de... more SUMMARYAn active force control system for robotic deburring based on an active end effector is developed. The system utilizes a PUMA-560 six axis robot. The robot's structural dynamics, positioning errors, and the deburring cutting process are examined in detail. Based on ARMAX plant models identified using the least squares method, a discrete PID controller is designed and tested in real-time. The control system is shown to maintain the force within l N of the reference, and reduce chamfer depth errors to 0.12 mm from the 1 mm possible without closed-loop control.
The design and implementation of a novel dexterous robotic hand is described. To Provide flexibil... more The design and implementation of a novel dexterous robotic hand is described. To Provide flexibility of application the design features three fingers, each position or force controllable in X-Y-Z, and a large workspace (400 mm dia. × 75 mm deep). These requirements plus the need for adequate strength (i.e. force and stiffness) are in conflict with the need to keep the mass within the payload capacity of common robots. These contrary objectives are met by designing a novel hybrid parallel-serial finger mechanism, a lightweight frame and pneumatic servos for finger actuation. The implemented design is verified experimentally, and may be scaled for other applications.
Journal of Manufacturing Science and Engineering, 1996
New results quantifying the performance of a vision and force sensor based robotic deburring syst... more New results quantifying the performance of a vision and force sensor based robotic deburring system at high feedrates and on stainless steel parts are presented. The performance with stainless steel is similar to that achieved with mild steel due to adaptation of the process model. Increasing the feedrate from 25 mm/s to 50 mm/s did not greatly affect deburring performance and could be used to reduce cycle time. The dual-sensor approach is shown to be 14 times more reliable than a single sensor solution. The overall accuracy of the system is ±30 μm for straight edged parts, and ±60 μm for 2-d edged parts with geometry similar to those tested.
International Journal of Machine Tools and Manufacture, 2009
Vibration assistance has increasing applications in metal removal processes. This method induces ... more Vibration assistance has increasing applications in metal removal processes. This method induces high-frequency and low-amplitude vibration in the feed direction during cutting, and has the potential to reduce cutting forces leading to improved surface quality and reduced ...
... Page 2. Mass Load X Y Figure 1. Pneumatic servo positioning system ... cbf 0.21 Cbd =-0.33 Th... more ... Page 2. Mass Load X Y Figure 1. Pneumatic servo positioning system ... cbf 0.21 Cbd =-0.33 The physical meaning of the above equations will be ex-plained briefly in section 3. Although the nonlinearity of this system is serious, a linearized model was derived. ...
... A free piston pneu-matic compressor was proposed as a mobile robot power source in [6 ... con... more ... A free piston pneu-matic compressor was proposed as a mobile robot power source in [6 ... controlled by two three-way proportional valves and a multiple-input multiple-output sliding modecontroller. ... The sliding of the rod, the LVDT sensor and slide table supporting the payload ...
Uploads