RoboCollab is a sketch-based smartphone application interface. It works for remote and real-time controlling of KUKA industrial robots and teleoperation of KUKA robotic arms as well as controlling the robotic arm by multiple operators simultaneously.
Category: # Mobile App #Android UI #Robotics
2016 - Present
Unitized Cable-Suspended Parallel Robot (CSPR)
A small-scale cable robot designing and prototyping to assess its applicability for use on field applications ( where typical factory-based serial robots are unsuitedfor such applications)
A group of three or more cable robot axes that will be ganged together to move the end- effector. A central computer, networked to the microcontrollers, instructs the individual axes to move and ensures that the actions are synchronized. The inverse kinematics of the CSPR is managed by the central computer. Our first generation prototype includes gear-reduction stepper motor, motor controller, Arudino MEGA with Ethernet shield, pinch roller assembly, and encoder. One of the goals of such development is large-scale 3D Printing and assembly applications.
LiveRoboAct is a user-friendly application to operate a real-time workflow from parametric design to robotic fabrication. Based on the implemented network capabilities in proposed model, not only one but also multiple robotic arms can interact and collaborate with design model data. In the network features of this model, there is a mediated interface between design software and robot controller interface that lets the user choose different parametric modeling software as the origin of the workflow. A practical experiment is developed in this research to validate the accuracy of the proposed model.
Some existing variables and properties in design to fabrication processes are not prefixed. So, design to fabrication workflow has to be flexible enough in the implementation process to be responsive to the instantaneous changes of variables while robot is running. RoboSort, is about designing an adaptive feedback control system to detect the color of blocks as a variable property and feed these immediate collected values into the developed sorting algorithm and execute a real-time decision-making in an intelligent assembly task.
Porosity is a porous interactive surface which is transforming to variety of patterns in response to individuals' motion in nearby environment. In there, robotic arm acted as an actuator for creating the patterns on dynamic animated surface in a real-time process. Work environment includes Kinect as a depth sensor, parametric modeling software environment and real-time robot programming in RobotStudio; RAPID and Python.
RoboFold is a fold technique for creating non-standard forms involving many folds. Chose v-die press-brake folding to produce precise folds and can be mounted on a single robot-gripper. The workflow consisted Python, Grasshopper-HAL and RobotStudio environments. Designed system took a simple string input made up of a series of 0s and 1s that denotes either a right or a left-hand bend that can generate variably complex forms. Developed an algorithm to generate patterns by having fractals input defined by L-Systems. At the end, cyclical folding allowed folding of extremely long metal sheets. By changing the angle of the folder, the strips can be folded out of horizontal plane which could produce paths nearly as complex as proteins structures.
RoboTATE is a costume method of controlling robotic arm to define work objects within a work cell, precisely indexing materials in multiple positions and programming the robotic arm motions to generate precisely locating framing members in three dimensions.
RoboMill is an optimization method to maximize the extracted volume of material from a steady tangible physical model. The optimization algorithm is developed based on genetic algorithm (influenced by taken course: Algorithm in Nature). The fabrication process is done by using ABB industrial robotic arm mounted by milling tool.