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Trajectory Generation Method based on DDP for 6-DOF Collaborative Robot |
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Jaesoon Lee, Baek-Kyu Cho(Kookmin University, Korea) |
| This paper conducts a study on trajectory generation for collaborative robots. In this research, Differential Dynamic Programming (DDP) is utilized. DDP is a method for finding optimal solutions in nonlinear models. This approach employs nonlinear models to utilize the Jacobian and Hessian of the Value function, resulting in second-order convergence properties. Furthermore, DDP possesses the advantage of easy constraint application. Using these characteristics, we applied DDP to the problem of trajectory generation for collaborative robots. Through this process, we demonstrated successful trajectory generation even under strict torque constraints by setting limitations on input torques. |
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Backstepping based Dynamic Surface Control Scheme for Application to Path Following of ROV for Underwater Glider Recovery |
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Munhaeng Lee, Sungjae Kim, Jinho Suh(Pukyong National University, Korea) |
| In this paper, we propose a path of ROV (Remotely Operated Vehicle) to recovery the underwater glider and utilize a backstepping-based dynamic surface controller to achieve the path following. we design the environmental disturbances and trajectory through 5th-order trajectory generation. For ROV control, we design adaptive backstepping control. Subsequently, we develop a backstepping-based dynamic surface control method for "explosion of term". Finally, we conduct a path following simulation and compare with the results. |
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Research on Safety standrad for mobile manipulator systems |
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Se-jin Kim, Hyung-Taek Baek, Min-Seop Song(KIRIA, Korea) |
| This paper aims to study what will be constituted in the safety standards of mobile manipulator systems. The Mobile manipulator is a robot that combine a manipulator with a mobile platform, and the safety requirements for this robot and its use are not yet internationally standardized. Therefore, this study analyzes the current status and limitations of safety standards for each component of a mobile manipulator, and discusses what is not covered by existing safety standards or what should be applied in combination with existing safety standards for the safe use of mobile manipulator. |
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Real-time automatic collision detection by using TDE-based impulse estimation and relative entropy |
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Byeonggi Yu(KIRO, Korea), Junyoung Lee, Maolin Jin(KOREA INSTITUTE OF ROBOTICS & TECHNOLOGY CONVERGENCE, Korea) |
| This paper proposes a method to estimate impulse on each joint of a robot manipulator by time delay estimation and shows collision detection using relative entropy. The proposed method has the advantage of being able to calculate the impulse on each joint without an additional external force measurement device and robot dynamics. It utilizes the state variables of the robot manipulator and the Jacobian matrix. It is suitable for various manipulator applications because it provides convenient applicability when the manipulator and the environment come into contact. We demonstrated the effectiveness of the proposed algorithm through simulation and compared our method with the classic momentum. |
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Artificial Potential Field Approach using Virtual Impedance for Motion Planning of Mobile Manipulator |
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Jung Hyun Choi, Jong Hoon Park, Ui Hun Sagong, Myun Joong Hwang(University of Seoul, Korea) |
| It is essential to develop efficient motion planning methods considering the characteristics of the mobile robot and the manipulator in the mobile manipulator. We aim to utilize the virtual impedance relationship for motion planning of the mobile manipulator. Since the virtual impedance relationship is calculated in terms of force, it cannot be directly applied to nonholonomic mobile robots. Therefore, we converted the virtual impedance into the virtual impedance potential field to enable the mobile robot to select an appropriate pose in its workspace. |
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Development of Small-scale Pneumatic Pump Module for Hybrid Gripper with Jamming Module |
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Myeongjin Kim(DGIST, Korea), Jingon Yoon, Donghyun Kim, Dongwon Yun(Daegu Gyeongbuk Institute of Science & Technology, Korea) |
| Due to rising incidents of diverse disasters, research on mobile robots for disaster response has gained prominence. These robots are being equipped with hybrid grippers made of hard and soft materials for better obstacle removal and confined space navigation. The paper focuses on the design of a small-scale pneumatic pump module to operate the jamming module of a compact hybrid gripper. Verification experiments confirmed the pump's effectiveness in enhancing the gripper's performance. |
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