dobot
216425451
Forward kinematic analysis of Dobot using closed loop method
Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.
ICRA 2020
Javier Dario Sanjuan De Caro Mohammad Habibur Rahman Ivan Rulik
225527453
A DOBOT Manipulator Simulation Environment for Teaching Aim with Forward and Inverse Kinematics
Industrial Manipulators were becoming used more and more at industries since the third industrial revolution. Actually, with the fourth one, the paradigm is changing and the collaborative robots are being accepted for the community. It means that smaller manipulators with more functionalities have been used and installed. New approaches have appeared to teach students according to the new robot's capabilities. The DOBOT robot is an example of that since it captivates the student's attention with an uncomplicated programming front end, tools, grippers and extremely useful for teaching STEM. This paper proposes a dynamic based simulation environment that can be used to teach, test and validate solutions to the DOBOT robot. By this way, the student can try and validate, at their homework without the real robot, the developed solutions and further test them at the laboratory with the real robot. Currently, remote testing and validation without the use of a real robot is an advantage. The comparison of the provided simulation environment and the real robot is presented in the approach.
Thadeu Brito Jose Luis Lima Joao Braun Luis Piardi Paulo Gomes Costa
216104292
Design of Imitation and 3D Operations Implemented With a Four Axis DOBOT
In this paper, the design of the control board and human machine interface for imitation and 3D operation is implemented with the DOBOT arm mechanism. The coordinate array data of glyphs written on the tablet is captured by the CCD camera. The glyph learning and imitation are implemented by the center point and radius estimation algorithms. In addition, the 3D position and operation procedure planned on the computer window interface will also be converted into a tracking coordinate array and procedure control code. They will be transmitted to the ARM chip on the control board via WIFI or USB, for parallel quadrilateral link calculation and coordinate conversion of the track, to get the motor control command of the robot arm. The automated monitoring system proposed in this paper is the result of completely self design and development on software, firmware and hardware. Rotational control accuracy of 0.01125 deg/pulse and writing error of less than 0.5 mm can be achieved.
2019 IEEE International Conference of Intelligent Applied Systems on Engineering (ICIASE)
Chang-Hsi Wu Chih-Wei Chang Jia-Hao Wu Yi-Chieh Hsieh
69676330
Multi Manipulator Cooperative 3D Printing Based on Dobot Manipulator
"Multi manipulator cooperative 3D printing" is put forward for the problem about manufacturing difficult, high cost and large workpieces in the fields of manufacturing, Aeronautics and Astronautics. Based on the 3D printing function of the Dobot manipulator, it has been developed by the Python language to realize the program control of the manipulator. The manipulator adopts a tight coordination method to realize collaborative 3D printing and finishes the task of layered processing and scanning filling by programming.
Linjuan Wu Jiquan Yang Xiaowei Zhang Yiyang Chen
88510494
Hardware Setup Our robot consists of a Dobot Magician robotic arm
Data driven approaches to solving robotic tasks have gained a lot of traction in recent years. However, most existing policies are trained on large scale datasets collected in curated lab settings. If we aim to deploy these models in unstructured visual environments like people's homes, they will be unable to cope with the mismatch in data distribution. In such light, we present the first systematic effort in collecting a large dataset for robotic grasping in homes. First, to scale and parallelize data collection, we built a low cost mobile manipulator assembled for under 3K USD. Second, data collected using low cost robots suffer from noisy labels due to imperfect execution and calibration errors. To handle this, we develop a framework which factors out the noise as a latent variable. Our model is trained on 28K grasps collected in several houses under an array of different environmental conditions. We evaluate our models by physically executing grasps on a collection of novel objects in multiple unseen homes. The models trained with our home dataset showed a marked improvement of 43.7% over a baseline model trained with data collected in lab. Our architecture which explicitly models the latent noise in the dataset also performed 10% better than one that did not factor out the noise. We hope this effort inspires the robotics community to look outside the lab and embrace learning based approaches to handle inaccurate cheap robots.
Abhinav Gupta Adithyavairavan Murali Dhiraj Gandhi Lerrel Pinto
69322188
CAD/CAM Interface for Educational Robot DOBOT
Shintaro Suzuki Fusaomi Nagata Keigo Watanabe
64732993
Forward and Inverse Kinematics Using Pseudoinverse and Transposition Method for Robotic Arm DOBOT
Kinematic structure of the DOBOT manipulator is presented in this chapter. Joint coordinates and end effector coordinates of the manipulator are functions of independent coordinates, i.e. joint parameters. This chapter explained forward kinematics task and issue of inverse kinematics task on the structure of the DOBOT manipulator. Linearization of forward kinematic equations is made with usage of Taylor Series for multiple variables. The inversion of Jacobian matrix was used for numerical solution of the inverse kinematics task. The chapter contains analytical equations, which are solution of inverse kinematics task. It should be noted that the analytical solution exists only for simple kinematic structures, for example DOBOT manipulator structure. Subsequently, simulation of the inverse kinematics of the above mentioned kinematic structure was performed in the Matlab Simulink environment using the SimMechanics toolbox.
Ondrej Hock Jozef Sedo
59507328
Design of Pseudoinverse Method for Robotic Arm
Pseudoinverse method for control end effector movement of a robotic arm is presented in this paper. For that task we used the robotic arm DOBOT. We made simulation model in Matlab environment and SimMechanics toolbox. We described the pseudoinverse method and problem solving of pseudoinverse for non square matrices. In the near future we will make implementation of this method to the control end effector movement of a robotic arm and therefore we created a simulation to how many digits we will need for correct calculating of goniometric functions in DSP.
Ondrej Hock Jozef Sedo
221591246
Aplying specified substance using robotic arm
The paper describes the methodology of applying the adhesive to the edges of the power module. We bring a possibility how to use 3 axis robotic arm DOBOT Magician for printing masks from user defined raster images or application of specified substance (glue, silicone. onto printing surface. The robotic arm DOBOT controlled by a camera system ensures the application of the adhesive. We use LabVIEW development environment for image processing. We further describe the control methodology of robotic arm using edge detection. In conclusion, we focus on the comparison of line tracking methods in terms of redundancy of robotic arm movements and their optimization.
2020 ELEKTRO
Libor Hargas Ondrej Hock Dusan Koniar Anna Simonova Tomas Urica
202560176
A Heuristic Iterative Method for Solving the Inverse Solution of Kinematics of Manipulators
Inverse kinematics is defined as the problem of determining a suitable set of joint configurations in which the end effector moves as smoothly and accurately as possible to the desired position. However, many current methods for finding kinematic inverse solutions are computationally expensive and often accompanied by singularity problems. This paper refers to the FABRIK method to solve the inverse kinematics problem of the manipulator. The method uses a method of forward and backward iteration of the node position to determine the kinematic inverse solution. In this paper, based on the method, a heuristic iterative method is proposed, which can be applied to solve the inverse kinematics problem of the serial manipulator. Taking the Dobot serial manipulator as an example, the feasibility of the heuristic iterative method for the inverse kinematics of the manipulator is proved. Compared with the commonly used Jacobian matrix transformation method, it is proved that the method can directly obtain the unique optimal solution and the structure is simple and so on.
2019 Chinese Control And Decision Conference (CCDC)
Xiao Ren Wu Ding-hui Hu Haibo