Browsing by Author "Hsieh, Mu-Cheng"

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Effective manipulation for a multi-DOF robot manipulator in laboratory environments
(2013)
Hsieh, Mu-Cheng
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Young, Kuu-Young
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電機學院
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College of Electrical and Computer Engineering
Robots are expected to enter human environments soon, and many challenging problems may then emerge when facing uncertain and varying environments. Among the challenges, one issue of great interest is how they can be effectively operated for task execution. If a robot is not to be controlled by detailed analysis and program coding, one appealing alternative is to provide a kind of manipulation system which enables the user to operate the robot naturally and efficiently. This idea has motivated us to develop an effective manipulation system for multi-degree of freedom (DOF) robot manipulators based on a 6-DOF haptic device. In this article, we focus on the laboratory environment, which is somewhat organized, but still demands sophisticated human manipulation. The proposed manipulation system, aimed for 3-D applications, provides two kinds of assistance. One is to enhance the linkage between the user and robot manipulator via the haptic clue. The other is to guide the movement of the user during task execution via a set of virtual tools, e. g., a ruler. We also propose a method for achieving smooth force rendering in manipulation, especially during the transition between two consecutive manipulations for guidance. For performance evaluation, this system is employed to conduct experiments in the chemical laboratory, which involve delicate and challenging maneuvers.
Manipulating a multi-DOF robot manipulator for tasks in home-like environments
(2012)
Hsieh, Mu-Cheng
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Tseng, Po-Ying
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Jan, Ming-Shiun
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Young, Kuu-young
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電子工程學系及電子研究所
As more robots are expected to enter the families to provide assistance soon, many challenging problems shall emerge, when facing the uncertain and varying environments, rather than the organized environments in factories. To date, robots still demand human\'s assistance when working in home-like environments. To enhance their usefulness, one issue of much interest is how we can effectively operate them for task execution. If not for detailed analysis and program coding, one appealing alternate is to provide a kind of manipulative system for the user to manipulate the robot naturally and efficiently. That motivates us to develop a dextrous manipulation system for multi-DOF robot manipulators based on using the 6-DOF force-reflection joystick. To demonstrate its effectiveness, the developed manipulation system is utilized to govern the robot manipulator for the tasks of water pouring and screw fastening.
Manipulating a Multi-DOF Robot Manipulator via Virtual Tools
(2014-07-01)
Hsieh, Mu-Cheng
;
Young, Kuu-Young
;
電機工程學系
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Department of Electrical and Computer Engineering
Along with fast progress in robot technologies, robots nowadays are able to tackle complex tasks in organized environments, like factories. However, when they are introduced to human societies, the uncertain and unstructured environments pose much challenge for them to work alone. As detailed programming to deal with all possible scenarios is way too time-consuming, one alternate is to let the human execute the manipulation, but with an effective manipulation system. In this paper, we thus propose such a manipulation system that can achieve natural and efficient governing in real-time. The target robot manipulator is chosen to be with multiple degrees of freedom (DOE) and position-controlled for being popular and versatile. We adopt a force-reflection joystick as its manipulative device, which provides haptic feedback and mutual interaction. We also develop a set of virtual tools, a virtual spring, and a virtual bumper to assist the user when executing 3D applications with requirements on both position and orientation. For demonstration, the proposed manipulation system is applied for the tasks of contour following and also screw fastening.
Motion constraint design and implementation for a multi-functional virtual manipulation system
(2010-04-01)
Hsieh, Mu-Cheng
;
Young, Kuu-young
;
電機工程學系
;
Department of Electrical and Computer Engineering
Simulation systems nowadays are applied to various tasks, and thus demand a versatile manipulative system for the user to interact with the corresponding simulated environments. To make a single manipulative device applicable to more different kinds of tasks, the concept of virtual mechanisms has been previously proposed, in which virtual motion constraints are constructed via the software to constrain the manipulative device to move within a limited workspace that corresponds to task requirements. Motivated by the idea, in this paper, we propose a systematic approach to design and implement the virtual motion constraints for a multi-functional virtual manipulation system. The motion constraints are generated from sets of virtual walls to deal with the compliance task. And, a pixel-based method is proposed for smooth force rendering between the walls. In experiments, we apply the proposed virtual manipulation system to emulate an omni-directional wrench and a manual gearshift system, based on using a 2-DOF force-reflection joystick. We also evaluate the responses of the users during the manipulation of these two virtual mechanisms, which implicate the proposed system is able to capture the main features of various kinds of manipulative devices. (C) 2010 Elsevier Ltd. All rights reserved.
Motion Constraint Design for a Multi-Functional Virtual Manipulation System
(2008)
Hsieh, Mu-Cheng
;
Young, Kuu-young
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Simulation systems nowadays are applied for various tasks, and thus demands a versatile manipulative system for the user to interact with the corresponding simulated environments. To make a single manipulative device applicable for different tasks, the concept of virtual mechanism has been previously proposed, in which virtual motion constraints are constructed via the software to constrain the manipulative device to move within a limited workspace that corresponds to task requirements. Motivated by the idea, in this paper, we propose a systematic approach to design and implement the virtual motion constraints for a multi-functional virtual manipulation system. The motion constraints are generated from sets of virtual walls, built of different shapes and physical properties, to deal with the compliance task, which involves both position and force management. An algorithm on how to properly assemble the walls and a graphics-based method for smooth force rendering between them are proposed for given compliance tasks. For demonstration, in experiments, we implement a virtual omni-directional wrench based on using a 2-DOF force-reflection joystick.