Annual Report 2002 - Ãrebro universitet

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Annual Report 2002 49 2.3.2 Research projects (A) Advanced mechatronic systems Project title: Lightweight Robot Arms Project leader: Anani Ananiev Project staff: Docent Ivan Kalaykov, Boyko Iliev Funding: KK Foundation and Faculty Cooperation: Bulgarian Academy of Sciences, Institute of Mechanics Synopsis: The objective is to create a lightweight robot arm with an open and re-configurable architecture for installing on top of mobile platforms (for example the Nomad 200 robot). The primary need for this arm came from the necessity of implementing mobile manipulation for the needs of the research in the Mobile Robotics Lab. The secondary goal encountered during the work on the project was the possibility to extend the application to other types of robotic tasks with more industrial emphasis, like food industry. Major contributions are large payload-to-weight ratio, space-saving design, flexible mounting, extremely low maintenance requirements, advanced open architecture controller. Two different models are designed and prototyped. The bigger arm corresponds in dimensions to the specific construction of the Nomad 200 mobile platform, while the smaller arm can be attached to various constructions, including also desktop installations. The smaller arm can be used also as a test platform for cooperative robot manipulation. The project is not directed to produce a PhD-thesis, but is a tool that can be used in other PhD projects. Results in 2002: - The project ended in 2002 with the bigger arm moving on top of Nomad 200 robot and a desktop version of the smaller arm. - The arms were demonstrated at Tekniska mässan, Stockholm, October 2002 where they attracted significant interest. One WIPO international patent is already obtained and published in 2001. Future developments: - Further improvements aiming at achieving better performance have to be made as expected under the future VINNOVA-Robotdalen initiative. - Visual feedback and force-sensor feedback is currently under development and will be demonstrated during 2003.
50 AASS – Center for Applied Autonomous Sensor Systems Project title: Flexible Food Cell Project leader: Docent Ivan Kalaykov Project staff: Anani Ananiev, Lars Jennergren Funding: KK Foundation, Faculty and ABB Cooperation: SIK, Göteborg Synopsis: The project started in April 2002 and the objective is to create an intelligent assembly cell for assembling ready-to-eat meals. The production has to be customer oriented, which leads to shorter and more irregular production series with an increased number of different products. During the entire project, the hygienic aspects and mechanical and thermal restrictions associated with the food assembly process are considered. The work is strongly related to the food factory of the future, which is planned to be ready for inauguration in June 2003, and the results will hopefully improve its capacity. The following major contributions are expected: hygienic and robust manipulation of specific food groups, a flexible cell layout that is easy to reconfigure for new product variants, a demonstration cell that can assemble a set of prespecified products. Results in 2002: - The general concept of the flexible food cell specifications and requirements for various types of food grippers/manipulators are defined. Primary design of some food grippers/manipulators is scheduled for 2003. Future developments: - As the project is in its initial phase, all planned and expected results should be considered in the next few years. - Work on a licentiate (and later PhD) thesis has been started by Lars Jennergren. (B) Advanced control Project title: Minimum-Time SMC of Robot Manipulators Project leader: Docent Ivan Kalaykov Project staff: Boyko Iliev Funding: KK Foundation and Faculty Cooperation: Technical University Sofia Synopsis: The objective is to develop techniques that provide near time-optimal control of robot manipulators. These are needed for obtaining predicted time response of the robot manipulator when the robot motion must be synchronized with other motions, for example when the robot should intercept a moving object. The necessity of this project come both from scientific challenges and application needs. Major contributions are: achieving minimum-time performance in the presence of uncertainty, using the theory of sliding modes; quasiminimum time control algorithms for Point-to-Point motion of serial robot manipulators; design and implementation of control systems for two lightweight robot arms designed at AASS.
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