Modelling and control of manipulators for inspection and maintenance in challenging environments: A literature review

Annual Reviews in Control, Journal Year: 2024, Volume and Issue: 57, P. 100949 - 100949

Published: Jan. 1, 2024

Nowadays, the use of robotic systems for inspection and maintenance is gaining importance due to number scenarios in which robots can operate. Indeed, provide many advantages harsh hostile environments, improving workers' safety overall efficiency. Given their ability perform different tasks, manipulators constitute a significant proportion possible employed these environments. The category heterogeneous group that comprises types robots: non-redundant, redundant, hyper-redundant manipulators, latter being subdivided into discrete-joint continuum manipulators. Among robots, play crucial role operating challenging environments auxiliary such as obstacle avoidance joint limits satisfaction. Furthermore, be made rigid or soft mechanisms mobile, aerial, ground, underwater objective this review article reference point researchers interested modelling controlling

Language: Английский

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Mixed-reality for quadruped-robotic guidance in SAR tasks

Journal of Computational Design and Engineering, Journal Year: 2023, Volume and Issue: 10(4), P. 1479 - 1489

Published: June 26, 2023

Abstract In recent years, exploration tasks in disaster environments, victim localization and primary assistance have been the main focuses of Search Rescue (SAR) Robotics. Developing new technologies Mixed Reality (M-R) legged robotics has taken a big step developing robust field applications Robotics field. This article presents MR-RAS (Mixed-Reality for Robotic Assistance), which aims to assist rescuers protect their integrity when exploring post-disaster areas (against collapse, electrical, toxic risks) by facilitating robot’s gesture guidance allowing them manage interest visual information environment. Thus, ARTU-R (A1 Tasks UPM Robot) quadruped robot equipped with sensory system (lidar, thermal, RGB-D cameras) validate this proof concept. On other hand, Human-Robot interaction is executed using Hololens glasses. work’s contribution implementation evaluation Mixed-Reality based on ROS-Unity solution, capable managing at high level complex through different zones (defined Neural Network vision system) environment (PDE). The each point visited involve detecting victims RGB imaging, neural networks assisting medical equipment. Tests carried out scenarios that recreate conditions PDE (debris, simulation victims, etc.). An average efficiency improvement 48% obtained immersive interface time optimization 21.4% compared conventional interfaces. proposed method proven improve rescuers’ experience controlling robotic system.

Language: Английский

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A 3D Mixed Reality Interface for Human-Robot Teaming

Published: May 13, 2024

Language: Английский

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Passivity-Based Twisting Sliding Mode Control for Series Elastic Actuators

Actuators, Journal Year: 2025, Volume and Issue: 14(2), P. 87 - 87

Published: Feb. 11, 2025

This paper presents a passivity-based twisting sliding mode control (PBSMC) approach for series elastic actuators (SEAs). To address the time-varying position trajectory tracking problem in SEAs, fourth-order dynamic model is developed to accurately characterize system. The framework comprises an internal loop and external controller, each designed ensure precise tracking. controller manages second derivative of joint error, while focuses on error itself. Both controllers are based PBSMC methodology reduce complex nonlinear disturbances minimize errors. finite-time convergence proposed method rigorously analyzed. performance advantages evaluated compared through various simulations.

Language: Английский

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A Systematic Review of XR-Enabled Remote Human-Robot Interaction Systems

ACM Computing Surveys, Journal Year: 2025, Volume and Issue: unknown

Published: April 19, 2025

The rising interest in creating versatile robots to handle multiple tasks various environments, with humans interacting through immersive interfaces. This survey provides a comprehensive review of extended reality (XR) applications remote human-robot interaction (HRI). We developed systematic search strategy based on the PRISMA methodology, focusing peer-reviewed publications that demonstrate practical implementations XR robot control, real system deployment, and HRI applications, we analyzed research published between January 2013 December 2023. From initial 2,561 articles, 100 met our inclusion criteria were included. categorized summarized domain detail, delving into methods used these articles achieve intuitive effective HRI, highlighting user experience enhancement designs. identifies opportunities, particularly emphasizes future researchers should explore potential XR, such as exploring multimodal techniques seamlessly integrate visual, haptic, auditory feedback for more teleoperation. Our analysis reveals while shows promising there are significant gaps, user-centered design. framework understanding current state XR-based establishing foundation research.

Language: Английский

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Toward Programming a Collaborative Robot by Interacting with Its Digital Twin in a Mixed Reality Environment

International Journal of Human-Computer Interaction, Journal Year: 2023, Volume and Issue: 40(17), P. 4745 - 4757

Published: June 14, 2023

In an industrial production context, when a robotic arm is assigned new task, it must be re-programmed by specialized personnel with the necessary skills and knowledge. addition, robot remains offline while being re-programmed, negatively affecting productivity. Mixed reality opens up opportunity for worker no programming to teach interacting hologram of its digital twin, thus not interfering physical during re-programming. We describe design implementation mixed-reality interface instruct trajectories end-effector moving twin hand. The supports integrality this interaction so that user can configure end effector location orientation simultaneously. also report study (n = 14) characterize in terms usability, experience, estimated temporal efficiency provide trajectories.

Language: Английский

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Design and Simulation of a Seven-Degree-of-Freedom Hydraulic Robot Arm

Actuators, Journal Year: 2023, Volume and Issue: 12(9), P. 362 - 362

Published: Sept. 14, 2023

The current reliance on manual rescue is inefficient, and lightweight, highly flexible, intelligent robots need to be investigated. Global seismic disasters occur often, jobs are defined by tight timetables high functional intellectual requirements. This study develops a hydraulically powered redundant robotic arm with seven degrees of freedom. To determine the force situation in various positions, common digging handling conditions dynamically simulated ADAMS. A finite element analysis then performed for dangerous confirm structural strength arm. hydraulic manipulator prototype manufactured, stress–strain experiments conducted verify simulation’s reliability.

Language: Английский

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Research on Holographic Visualization Verification Platform for Construction Machinery Based on Mixed Reality Technology

Applied Sciences, Journal Year: 2023, Volume and Issue: 13(6), P. 3692 - 3692

Published: March 14, 2023

As “Industry 4.0” progresses, construction machinery is evolving toward large-scale, automation, and integration, resulting in the equipment becoming increasingly sophisticated, designs more difficult. Labor costs, transportation, time will be huge challenges for machinery, mixed reality technology one of several possible ways to solve this challenge. The research presented paper develops a holographic visual verification platform digital prototype based on virtual terminal equipment, through investigating synchronous remote collaboration multiple devices scenario. These included semi-physical virtual-real fusion assembly, multi-person real-time voice communication, dynamic loading MR model cloud server, imitation control, interface design, human-computer interaction. effectiveness paper’s method demonstrated collaborative design cases. double drum roller, loader, milling planer welding production line, as well tractor modeling review simulation manipulation an aerial work platform. experimental results show that feasible, low-cost scalable solution, which brings qualitative breakthrough development, other stages field machinery.

Language: Английский

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Analysis of MR–VR tele-operation methods for legged-manipulator robots

Virtual Reality, Journal Year: 2024, Volume and Issue: 28(3)

Published: July 2, 2024

Abstract The development of immersive technologies in recent years has facilitated the control and execution tasks at a high level complexity robotic systems. On other hand, exploration manipulation unknown environments have been one main challenges search rescue (SAR) robotics. Due to uncertainty involved autonomous unstructured environments, these are usually tele-operated initially. This article addresses comparative study between Mixed Reality (MR—Hololens) Virtual (VR—HTC-Vive) methods for teleoperating legged-manipulator robots context rescue. For this purpose, teleoperation robotics method was established address comparison, developing VR–MR interfaces with same contextualization operational functionality mission management robot set composed quadrupedal equipped 6 degrees freedom (6DoF) manipulator, by user using hand gestures. A metrics is proposed evaluation considering parameters that allow analyzing operability (latencies, physical equipment, etc.), as well from aspect operator performance (required training, confidence levels, etc.). experimental phase conducted both on-site remote operations evaluate categorize advantages disadvantages each method.

Language: Английский

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Scalability of Cyber-Physical Systems with Real and Virtual Robots in ROS 2

Sensors, Journal Year: 2023, Volume and Issue: 23(13), P. 6073 - 6073

Published: July 1, 2023

Nowadays, cyber-physical systems (CPSs) are composed of more and agents the demand for designers to develop ever larger multi-agent is a fact. When number increases, several challenges related control or communication problems arise due lack scalability existing solutions. It important tools that allow strategies evaluation large-scale systems. In this paper, it considered CPS heterogeneous robot system cooperatively performs formation task through wireless network. The goal research evaluate system’s performance when increases. To end, two different frameworks developed with open-source Gazebo Webots used. These enable combining both real virtual in realistic scenario allowing experiences. They also reduce costs required significant robots operate environment, as experiences can be conducted few higher by mimicking ones. Currently, include types robots, such aerial Crazyflie 2.1 differential mobile Khepera IV used work. illustrate usage frameworks, an event-based strategy rigid formations varying analyzed. should achieve defined set desired Euclidean distances their neighbors. compare tools, following metrics have been used: error, CPU percentage, ratio between time simulation time. results show feasibility using Robot Operating System (ROS) 2 distributed architectures regardless nature. However, under study present behaviors grows some parameters, discrepancies

Language: Английский

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