Implementing Expandable Path for an Resizable Cobot

Abstract:

Collaborative Robots or Cobots are passively assisted devices that are intended to work directly with human operators. We describe a Resizable Cobot that specially designed to expand or retract itself while moving along a specified path. In this paper, we propose and implement a 4-DOF path planning using a path length parameter. The computer simulation using Cobot Kinematic and the experiment result of the Resizable Cobot are provided.

• Periodical: Applied Mechanics and Materials (Volume 619)
• Pages: 224-229
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.619.224
• Online since: August 2014
• Authors: Jommutta Jumpaluang, Witaya Wannasuphoprasit*
• Keywords: Collaborative Robot, Configuration Space, Passive, Resizable Cobot

References

[1] J.E. Colgate, W. Wannasuphoprasit and M.A. Peshkin: Cobots: Robots for Collaboration with Human Operators, International Mechanical Engineering Congress and Exposition ASME Atlanta Vol. 58 (1997), pp.433-440.

[2] S. Sirikasemsuk and W. Wannasuphoprasit: 3DC-Cobotic manipulator, Thammasat Int. J. Sc. Tech (2011).

[3] E.S. Boy, E. Burdet, C.L. Teo and J.E. Colgate: Investigation of Motion Guidance with Scooter Cobot and Collaborative Learning, IEEE Transaction on Robotics Vol. 23 No. 2 (2007).

DOI: 10.1109/tro.2006.889488

[4] M.A. Peshkin, J.E. Colgate, W. Wannasuphoprasit, C.A. Moore, R.B. Gillespie and P. Akella: Cobot Architecture, IEEE Transaction on Robotics and Automation August Vol. 17 No. 4 (2001).

DOI: 10.1109/70.954751

[5] T. Worsnopp: Design of a Unicycle Cobot Controller, Master's Thesis, Department of Mechanical Engineering, Northwestern University, May (2003).

[6] P. Akella, M. Peshkin, E. Colgate, W. Wannasuphoprasit, N. Nagesh, J. Wells, S. Holland, T. Pearson, and B. Peacock: Cobots for the automobile assembly line, Proceeding of the IEEE International Conference on Robotics and Automation (1999).

DOI: 10.1109/robot.1999.770061

[7] W. Wannasuphoprasit, R.B. Gillespie, J.E. Colgate and M.A. Peshkin: Cobot Control, Proceeding of the IEEE International Conference on Robotics and Automation March (1997).

DOI: 10.1109/robot.1997.606888

[8] S. Chanpat and W. Wannasuphoprasit: Kinematics and Control of A Resizable Cobot, AIJSTPME: 2(4) (2009), pp.71-83.

[9] S. Chanpat and W. Wannasuphoprasit: Novel Transformable Cobot, IEEE Conference on Robotics, Automation and Mechatronics (2006), pp.1-6.

DOI: 10.1109/ramech.2006.252689

[10] Farling E. L., Colgate, J.E., and Peshkin M.A. A High Performance 6-DOF Haptic Cobot Robotics and Automation 2004, Proceedingg ICRA-04. 2004 IEEE.

DOI: 10.1109/robot.2004.1308114

[11] J. Monterde: Curves with Constant Curvature Ratios, 2000 Mathematics Subject Classification December (2004).

[12] G. Öztürk, K. Arslan and H. Hilmi Hacisalihoglu: A characterization of ccr-curves in , Proceeding of the Estonian Academy of Sciences (2008), pp.217-224.

DOI: 10.3176/proc.2008.4.03

[13] B. O'Neill in: Elementary Differential Geometry Revised Second Edition, Academic Press is an imprint of Elsvier (2006).

[14] I. Gök and F.K. Aksoyak: Characterizations of the Quaternionic Bertrand Curve in Euclidean Space , Mathematics Subject Classification (2013).