advanced robotics for autonomous manipulation

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Department of Mechanical EngineeringME 696 – Advanced Topics in Mechanical Engineering. Advanced Robotics for Autonomous Manipulation. Giacomo Marani Autonomous Systems Laboratory, University of Hawaii. http://www2.hawaii.edu/~marani. 1. Course Objectives - PowerPoint PPT Presentation

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A real-time approach for singularity avoidance in RMRC of Robotic Manipulators

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Advanced Robotics for Autonomous ManipulationGiacomo MaraniAutonomous Systems Laboratory, University of HawaiiDepartment of Mechanical EngineeringME 696 Advanced Topics in Mechanical Engineering

http://www2.hawaii.edu/~maraniSAUVIM DemosSD001 - SD024SD001

MOM Maximization Disabled (Sim.Demo)SD002

MOM Maximization Enabled (Sim.Demo)SD003

Collision Detection (Simulative Demo)SD004

Task Position Priority (Sim.Demo)SD005

Vehicle Navigation (Old Sim. Demo)SD006

Arm Drawing, 2001 Demo (Simulation)SD007

Arm Drawing, 2001 DemoSD008

SAUVIM Extraction (Unpainted Fairing)SD009

Writing `Welcome` (Extended)SD010

Writing `Welcome`SD011

Test Tube with Ultras. Tracker (Ex)SD012

Test Tube with Ultrasonic TrackerSD013

Particular of Docking SequenceSD014

Particular of Undocking SequenceSD015

Drawing `Smiley` (Internship Prog.)SD016

First NavigationSD017

2005 Internship PresentationSD018

Underwater Plug, Ex. (Demo 01, 2004.05)SD019

Underwater Plug (Demo 01, 2004.05)SD020

Chessboard Tracker (D02, 2005.09.30)SD021

Cable Cutting (D03, 2005.10.20).SD022

Cable Hooking (D04, 2006.04.26)SD023

Cable Hooking, Hi-R (D05, 2006.10.26)SD024

Auton. Navigation (D06, 2007.07)

Course Objectives

This course intends to provide graduate students with advanced methods in robotics suitable for autonomous operation, such as task prioritization, auto-calibration and target interaction.

Advanced Robotics for Autonomous Manipulation will offers to the students the unique possibility of interacting with a sophisticated autonomous robotic system (the SAUVIM Autonomous Underwater Vehicle-Manipulator system), to perform individual and group experimental activities as part of the course.

Arm Drawing, 2001 DemoSD007

SAUVIMSemi-Autonomous Underwater Vehicle for Intervention Missions5

SAUVIMSemi-Autonomous Underwater Vehicle for Intervention Missions6

Writing `Welcome`SD010

Test Tube with Ultrasonic TrackerSD012

MARIS 7080 Robotic Manipulator MARIS 7080 kinematics11MARIS 7080 kinematics

Contents

Introduction1. SAUVIM Design2. Aut. Manipulation3. Maris 7080 Robot4. Target Localization5. Course Topics6. RDS7. Course Organiz.ExamplesWriting `Welcome`SD010

Drawing `Smiley` (Internship Program)SD015

Test Tube with Ultrasonic TrackerSD012

Underwater Demo #2Deploying an objectLocalizing a chessboard

The arm picks the object to deploy from the vehicleThe arm the arm scans around in order to look for the chessboardOnce the chessboard is detected, the arm deploys the object over it.

2005 Internship PresentationSD017

Underwater Demo #3Cutting the cable

Localizing and cutting a cable

The arm scans around in order to look for the ballOnce the ball is detected, the arm attempts to position the gripper about 5 inches over the ball. When no movement is detected from the camera-arm system, the arm proceeds cutting the cable (open gripper, move forward of 2 inches, close gripper).Underwater Plug (Demo 01, 2004.05)SD019

The arm scans around in order to look for the target Once the target is detected, the arm attempts to clamp the hook (tied to a cable) in between the 2 spheres.

Demo SD023: Target Recovery [October 2006]

Underwater Demo #2Deploying an objectLocalizing a chessboard

The arm picks the object to deploy from the vehicleThe arm the arm scans around in order to look for the chessboardOnce the chessboard is detected, the arm deploys the object over it.

The vehicle deploys the arm and scans the area in search for the target Once the target is detected, the whole vehicle-manipulation system attempts to lock the target and point the end-effector to it

Demo SD025: Target Tracking [July 2008]

Underwater Demo #3Cutting the cable

Localizing and cutting a cable

The arm scans around in order to look for the ballOnce the ball is detected, the arm attempts to position the gripper about 5 inches over the ball. When no movement is detected from the camera-arm system, the arm proceeds cutting the cable (open gripper, move forward of 2 inches, close gripper).Cable Hooking (Demo 04, 2006.04.26)SD022

Simulation Environment Robotics Developer Studio26

Contents

Introduction1. SAUVIM Design2. Aut. Manipulation3. Maris 7080 Robot4. Target Localization5. Course Topics6. RDS7. Course Organiz.Examples

Target recovery

The arm scans around in order to look for the targetOnce the target is detected, the arm attempts to clamp the hook (tied to a cable) in between the 2 spheres.

Underwater Demos #4-5:Recovery operation(October 2006) Simulation EnvironmentRobotics Developer Studio28RDS: Simple application example5 Degrees of freedom linear chain.

Link 1Link 2Link 3Joint 1Joint 2Joint 3Link 5Joint 5

Contents

Introduction1. SAUVIM Design2. Aut. Manipulation3. Maris 7080 Robot4. Target Localization5. Course Topics6. RDS7. Course Organiz.ExamplesAutonomous Navigation (Demo 06, 2007.07)SD024

Simulation EnvironmentRobotics Developer Studio30RDS: Vehicle SimulationRDS can model more general mechanical systems than robots.The following example is an overall simulation of the vehicle with the arm, in empty space and without gravity. Contents

Introduction1. SAUVIM Design2. Aut. Manipulation3. Maris 7080 Robot4. Target Localization5. Course Topics6. RDS7. Course Organiz.Examples32 Contents

Introduction1. SAUVIM Design2. Aut. Manipulation3. Maris 7080 Robot4. Target Localization5. Course Topics6. RDS7. Course Organiz.Examples

ExamplesVideo clips of SAUVIM DemosChessboard Tracker (Demo 02, 2005.09.30)SD020

Cable Cutting (Demo 03, 2005.10.20)SD021

Cable Hooking, Hi-Res (Demo 05, 2006.10.26)SD023

End of presentation[Template]SD0

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