ORCID Profile
0000-0002-0042-5151
Current Organisation
Singapore university of technology and design
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Publisher: American Society of Mechanical Engineers
Date: 02-08-2015
Abstract: This paper presents a systematic approach for identifying feasible robot base placement regions within a workcell, and evaluating performance of industrial robots for the design of mobile industrial robotic system to perform collision-free automated welding of large intersecting cylindrical pipe structures. First, a mathematical model based on the geometry of intersecting cylindrical pipes is used to generate the welding task and torch orientation. Next, collision detection is performed using line geometry and possible robot base positions are identified and rated according to the manipulability measure. This yields a graph of feasible robot base placement regions that perform collision-free welding rated in terms of its dexterity. Finally, a task metric based on kinematic measures to evaluate the robot’s performance is proposed and discussed. An implementation of this approach for evaluating two different 6R industrial robots for welding jack-up rig structures was used as ex les. This technique will also be applicable for designing mobile robotic system for tasks other than welding which may require trajectory-following end-effector motion uninterrupted by objects within the workspace such as painting, taping, blasting, cutting, etc.
Publisher: IEEE
Date: 05-2016
Publisher: IEEE
Date: 12-2014
Publisher: American Society of Mechanical Engineers
Date: 02-08-2015
Abstract: Pose estimation and trajectory tracking of a spherical rolling robot is a complex problem owing to kinematics and dynamics of the system and the constraint of not being able to add range sensors like ultrasonic or infrared distance sensors on the robot. The pose estimate for the robot under study, needs to be derived purely using inertial measurement unit (IMU) and odometry from analog wheel encoders, which in turn include high uncertainties. Adding to this, the system kinematic and dynamic model to accurately predict the behavior is quite complex. In this paper we present a simplified kinematic model, sensor filtering techniques and the control strategy adopted to locate and navigate the robot to a desired waypoint autonomously. A filter block provides clean heading output from the IMU and incremental pulses from an analog wheel encoder the pose estimator uses heading and incremental pulses to calculate its position according to the system kinematic model. A pure-pursuit algorithm generates left & right wheel velocities to keep the robot on a commanded waypoint, using the robot kinematic model and localization data. The validity of our kinematic model and performance of our waypoint tracking are verified with the ground truth using a motion capture system and onboard sensors, where the application domain is bio-inspired, micro (small scale) robotics.
Publisher: IEEE
Date: 12-2014
Publisher: American Chemical Society (ACS)
Date: 26-12-2018
Abstract: The unusual ability of geckos to climb vertical walls underlies a unique combination of a hierarchical structural design and a stiffer material composition. While a dense array of microscopic hierarchical structures enables the gecko toe pads to adhere to various surfaces, a stiffer material (β-keratin) composition enables them to maintain reliable adhesion over innumerable cycles. This unique strategy has been seldom implemented in engineered dry adhesives because fabrication of high-aspect-ratio hierarchical structures using a stiffer polymer is challenging. Herein, we report the fabrication of high-aspect-ratio hierarchical arrays on flexible polycarbonate sheets (stiffness comparable to that of β-keratin) by a sacrificial-layer-mediated nanoimprinting technique. Dry-adhesive films comprising the hierarchical arrays showed a formidable shear adhesion of 11.91 ± 0.43 N/cm
Publisher: IEEE
Date: 07-2015
Location: United States of America
No related grants have been discovered for Gim Song Soh.