| dc.creator |
Moura, João |
|
| dc.creator |
McColl, William |
|
| dc.creator |
Taykaldiranian, Gerard |
|
| dc.creator |
Tomiyama, Tetsuo |
|
| dc.creator |
Erden, Mustafa Suphi |
|
| dc.date |
2018-07-30T14:34:26Z |
|
| dc.date |
2018-07-30T14:34:26Z |
|
| dc.date |
2018-06-21 |
|
| dc.date.accessioned |
2022-05-25T16:37:21Z |
|
| dc.date.available |
2022-05-25T16:37:21Z |
|
| dc.identifier |
Moura J, McColl W, Taykaldiranian G, Tomiyama T, Erden MS, Automation of train cab front cleaning with a robot manipulator, IEEE Robotics and Automation Letters, Vol. 3, Issue 4, October 2018, pp. 3058-3065 |
|
| dc.identifier |
2377-3766 |
|
| dc.identifier |
http://dx.doi.org/10.1109/LRA.2018.2849591 |
|
| dc.identifier |
http://dspace.lib.cranfield.ac.uk/handle/1826/13364 |
|
| dc.identifier.uri |
http://localhost:8080/xmlui/handle/CUHPOERS/182222 |
|
| dc.description |
In this letter we present a control and trajectory tracking approach for wiping the train cab front panels, using a velocity controlled robotic manipulator and a force/torque sensor attached to its end effector, without using any surface model or vision-based surface detection. The control strategy consists in a simultaneous position and force controller, adapted from the operational space formulation, that aligns the cleaning tool with the surface normal, maintaining a set-point normal force, while simultaneously moving along the surface. The trajectory tracking strategy consists in specifying and tracking a two dimensional path that, when projected onto the train surface, corresponds to the desired pattern of motion. We first validated our approach using the Baxter robot to wipe a highly curved surface with both a spiral and a raster scan motion patterns. Finally, we implemented the same approach in a scaled robot prototype, specifically designed by ourselves to wipe a 1/8 scaled version of a train cab front, using a raster scan pattern. |
|
| dc.language |
en |
|
| dc.publisher |
IEEE |
|
| dc.rights |
Attribution 4.0 International |
|
| dc.rights |
http://creativecommons.org/licenses/by/4.0/ |
|
| dc.subject |
Force |
|
| dc.subject |
Tools |
|
| dc.subject |
Cleaning |
|
| dc.subject |
Robot sensing systems |
|
| dc.subject |
Manipulators |
|
| dc.subject |
Aerospace electronics |
|
| dc.subject |
Kinematics |
|
| dc.subject |
Industrial robots |
|
| dc.subject |
Motion control |
|
| dc.subject |
Force control |
|
| dc.title |
Automation of train cab front cleaning with a robot manipulator |
|
| dc.type |
Article |
|