arXiv subjects

Antonio Rosales

Publications and source records attributed to Antonio Rosales.

3 recordsLinked to original sources

arXiv2026

Vibration Suppression in Collaborative Flexible Payload Manipulation Using Passive Force Control

In large and heavy structures, vibrations arise during motion, posing significant challenges for precise manipulation. To accomplish the desired motion, control algorithms must effectively suppress these structural vibrations. In cutting edge projects, such as remote maintenance of future fusion energy reactors (tokamaks), the manipulation of this type of structure is defined as a crucial task. This paper presents a control strategy to suppress transverse vibrations in flexible payloads during motion using a collaborative payload manipulation approach. Two different industrial robot arms are arranged in a leader follower configuration for the manipulation strategy. The leader robot guides the motion with shaped velocity commands, while the follower robot ensures compliance with the estimated external forces applied by the leader on the payload through an admittance controller. Unlike existing methods, the proposed approach enables collaborative manipulation of heavier and larger flexible objects, addressing additional challenges such as vibration suppression and heterogeneous robot specifications. The dynamics of the leader follower payload system are modeled using an equivalent mass spring damper model, and it is shown that, with appropriate admittance parameters, the total energy of the system is passively dissipated. A stability proof is also provided. Numerical simulations validate the proposed method, and experimental results demonstrate its effectiveness.

cs.RO↗

arXiv2025

Robot and Overhead Crane Collaboration Scheme to Enhance Payload Manipulation

This paper presents a scheme to enhance payload manipulation using a robot collaborating with an overhead crane. In the current industrial practice, when the crane's payload has to be accurately manipulated and located in a desired position, the task becomes laborious and risky since the operators have to guide the fine motions of the payload by hand. In the proposed collaborative scheme, the crane lifts the payload while the robot's end-effector guides it toward the desired position. The only link between the robot and the crane is the interaction force produced during the guiding of the payload. Two admittance transfer functions are considered to accomplish harmless and smooth contact with the payload. The first is used in a position-based admittance control integrated with the robot. The second one adds compliance to the crane by processing the interaction force through the admittance transfer function to generate a crane's velocity command that makes the crane follow the payload. Then the robot's end-effector and the crane move collaboratively to guide the payload to the desired location. A method is presented to design the admittance controllers that accomplish a fluent robot-crane collaboration. Simulations and experiments validating the scheme potential are shown.

cs.RO↗

arXiv2024

Visual Servoing Based on 3D Features: Design and Implementation for Robotic Insertion Tasks

This paper proposes a feature-based Visual Servoing (VS) method for insertion task skills. A camera mounted on the robot's end-effector provides the pose relative to a cylinder (hole), allowing a contact-free and damage-free search of the hole and avoiding uncertainties emerging when the pose is computed via robot kinematics. Two points located on the hole's principal axis and three mutually orthogonal planes defining the flange's reference frame are associated with the pose of the hole and the flange, respectively. The proposed VS drives to zero the distance between the two points and the three planes aligning the robot's flange with the hole's direction. Compared with conventional VS where the Jacobian is difficult to compute in practice, the proposed featured-based uses a Jacobian easily calculated from the measured hole pose. Furthermore, the feature-based VS design considers the robot's maximum cartesian velocity. The VS method is implemented in an industrial robot and the experimental results support its usefulness.

cs.RO↗