Using Full Pose Measurement for Serial Robot Calibration.

To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D locations or full 6D poses. We show that use of full pose measurements leads to much smaller robot orientation errors when compared with the outcome of calibration and registration procedures based on 3D data only.

Evaluation of Robot Degradation on Human-Robot Collaborative Performance in Manufacturing.

Human-robot collaborative systems are highly sought candidates for smart manufacturing applications because of their adaptability and consistency in production tasks. However, manufacturers are still hesitant to adopt these systems because of the lack of metrics regarding the influence of the degradation of collaborative industrial robots on human-robot teaming performance. Hence, this paper defines teaming performance metrics with respect to robot degradation.

Comparative Study of Two Pose Measuring Systems Used to Reduce Robot Localization Error.

The performance of marker-based, six degrees of freedom (6DOF) pose measuring systems is investigated. For instruments in this class, the pose is derived from locations of a few three-dimensional (3D) points. For such configurations to be used, the rigid-body condition-which requires that the distance between any two points must be fixed, regardless of orientation and position of the configuration-must be satisfied.

Design of a six-DOF motion tracking system based on a Stewart platform and ball-and-socket joints.

This paper presents a six degree-of-freedom (DOF) real-time motion tracking system of measuring the position and the orientation for industrial robots in three-dimensional (3D) space. The proposed system is based on a typical Stewart platform design and utilizes six low-cost displacement sensors to monitor the motion of the Stewart platform. The advantage of the proposed system is its simple calibration and easy accessibility; the magnetic ball-and-socket joints used for rotational joints.

HANDLING PERCEPTION UNCERTAINTY IN SIMULATION BASED SINGULATION PLANNING FOR ROBOTIC BIN PICKING.

Robotic bin picking requires using a perception system to estimate the pose of the parts in the bin. The selected singulation plan should be robust with respect to perception uncertainties. If the estimated posture is significantly different from the actual posture, then the singulation plan may fail during execution.

Multi-Robot Assembly Strategies and Metrics.

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles.

Strategies for Improving and Evaluating Robot Registration Performance.

Unlabelled: The ability to calculate rigid-body transformations between arbitrary coordinate systems (i.e., registration) is an invaluable tool in robotics.

Implementing Speed and Separation Monitoring in Collaborative Robot Workcells.

We provide an overview and guidance for the Speed and Separation Monitoring methodology as presented in the International Organization of Standardization's technical specification 15066 on collaborative robot safety. Such functionality is provided by external, intelligent observer systems integrated into a robotic workcell. The SSM minimum protective distance function equation is discussed in detail, with consideration for the input values, implementation specifications, and performance expectations.

Survey of Research for Performance Measurement of Mobile Manipulators.

This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles when compared to other mobile manipulator research areas. The survey provides a literature review of mobile manipulator research with examples of experimental applications. The survey also provides an extensive list of planning and control references as this has been the major research focus for mobile manipulators which factors into performance measurement of the system.

Adaptive Multi-scale Prognostics and Health Management for Smart Manufacturing Systems.

The Adaptive Multi-scale Prognostics and Health Management (AM-PHM) is a methodology designed to enable PHM in smart manufacturing systems. In application, PHM information is not yet fully utilized in higher-level decision-making in manufacturing systems. AM-PHM leverages and integrates lower-level PHM information such as from a machine or component with hierarchical relationships across the component, machine, work cell, and assembly line levels in a manufacturing system.

Linear Temporal Logic (LTL) Based Monitoring of Smart Manufacturing Systems.

The vision of Smart Manufacturing Systems (SMS) includes collaborative robots that can adapt to a range of scenarios. This vision requires a classification of multiple system behaviors, or sequences of movement, that can achieve the same high-level tasks. Likewise, this vision presents unique challenges regarding the management of environmental variables in concert with discrete, logic-based programming.

Adaptive Multi-scale PHM for Robotic Assembly Processes.

Adaptive multiscale prognostics and health management (AM-PHM) is a methodology designed to support PHM in smart manufacturing systems. As a rule, PHM information is not used in high-level decision-making in manufacturing systems. AM-PHM leverages and integrates component-level PHM information with hierarchical relationships across the component, machine, work cell, and production line levels in a manufacturing system.