Latest Papers

ASME Journal of Mechanisms and Robotics

  • Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
    by Audet JM, Gosselin C. on July 21, 2021 at 12:00 am

    AbstractIn this paper, the concept of underactuated redundancy is presented using a novel spatial two-degrees-of-freedom (2-DoF) gravity-balanced rotational manipulator, composed of movable counterweights. The proposed kinematic arrangement makes it possible to intuitively manipulate a payload undergoing 3-DoF spatial rotations by adding a third rotational axis oriented in the direction of gravity. The static equilibrium equations of the 2-DoF architecture are first described in order to provide the required configuration of the counterweights for a statically balanced mechanism. A method for calibrating the mechanism, which establishes the coefficients of the static equilibrium equations, is also presented. In order to both translate and rotate the payload during manipulation, the rotational manipulator is mounted on an existing translational manipulator. Experimental validations of both systems are presented to demonstrate the intuitive and responsive behavior of the manipulators during physical human–robot interactions.

  • Special Section: Mobile Robots and Unmanned Ground Vehicles
    by Reina G, Das TK, Quaglia G, et al. on July 21, 2021 at 12:00 am

    Inspired by the fifth-year anniversary celebration of the homonymous symposium at the International Mechanical Engineering Congress & Exposition (IMECE), this Special Section with ten articles shares the latest research efforts in design, theory, development, and applications for mobile robots and unmanned ground vehicles.

Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot


Robots are commonly used for automated welding in many industries such as automotive manufacturing. The complexity and time required for programming present an obstacle in using robotic automation in welding or other tasks for small to medium enterprises that lack resources for training or expertise in traditional robot programming strategies. It also dictates a high level of repeated parts to offset the cost of weld programming. Collaborative robots or Cobots are robots designed for more collaborative operations with humans. Cobots permit new methods of task instruction (programming) through a direct interaction between the operator and the robot. This paper presents a model and model calibration strategy for collaborative robots to aid in teaching and monitoring welding tasks. The method makes use of a torque estimation model based on robot momentum to create an observer to evaluate external forces. The torque observer is used to characterize the friction that exists within the robot joints. These data are used to define the parameters of a friction model that combines static, Coulomb, and viscous friction properties with a sigmoid function to represent a transition between motion states. With an updated friction model, the torque observer is then used for collaborative robotic welding, first to provide a mode in which the robot can be taught weld paths through physical lead through and second a mode to monitor the weld process for expected motion/force characteristics. The method is demonstrated on a commercial robot.
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