Machine of the future: An intelligent paper roll manipulator

Pentti Vähä, Tapio Heikkilä, Juha Röning, Jyrki Okkonen

    Research output: Contribution to journalArticleScientificpeer-review

    3 Citations (Scopus)

    Abstract

    A general description of a control system for a prototype of an intelligent and skilled paper roll manipulator (PRM) is given. The elementary operations related to both manipulations and environment observations are described, and explanation regarding the integration of these with a hierarchically organized planning-executing-monitoring architecture (PEM) is given. The kernel of PEM architecture is a goal-oriented module consisting of these three principle parts. The motion control of the paper roll manipulator is divided into free motion (gross motion) and force-constrained motion (fine motion) phases. Gross motion control takes the paper roll from the starting position to the vicinity of the goal position, whereas the fine motion control is used in placing the paper roll against other paper rolls and the support, e.g. the other paper rolls and walls of a ship. For coarse recognition of the environment a 3D laser device is used. The accurate position of paper rolls in the picking phases is measured with the aid of an ultrasonic sensor system, and the final force constrained placement is carried out with force-sensing based on measurements of hydraulic pressures of the manipulator system.
    Original languageEnglish
    Pages (from-to)861-877
    Number of pages17
    JournalMechatronics
    Volume4
    Issue number8
    DOIs
    Publication statusPublished - 1994
    MoE publication typeA1 Journal article-refereed

    Fingerprint

    Motion control
    Manipulators
    Planning
    Ultrasonic sensors
    Monitoring
    Ships
    Hydraulics
    Control systems
    Lasers

    Cite this

    Vähä, Pentti ; Heikkilä, Tapio ; Röning, Juha ; Okkonen, Jyrki. / Machine of the future : An intelligent paper roll manipulator. In: Mechatronics. 1994 ; Vol. 4, No. 8. pp. 861-877.
    @article{a82c24bdea1444ed809005f05e2aee90,
    title = "Machine of the future: An intelligent paper roll manipulator",
    abstract = "A general description of a control system for a prototype of an intelligent and skilled paper roll manipulator (PRM) is given. The elementary operations related to both manipulations and environment observations are described, and explanation regarding the integration of these with a hierarchically organized planning-executing-monitoring architecture (PEM) is given. The kernel of PEM architecture is a goal-oriented module consisting of these three principle parts. The motion control of the paper roll manipulator is divided into free motion (gross motion) and force-constrained motion (fine motion) phases. Gross motion control takes the paper roll from the starting position to the vicinity of the goal position, whereas the fine motion control is used in placing the paper roll against other paper rolls and the support, e.g. the other paper rolls and walls of a ship. For coarse recognition of the environment a 3D laser device is used. The accurate position of paper rolls in the picking phases is measured with the aid of an ultrasonic sensor system, and the final force constrained placement is carried out with force-sensing based on measurements of hydraulic pressures of the manipulator system.",
    author = "Pentti V{\"a}h{\"a} and Tapio Heikkil{\"a} and Juha R{\"o}ning and Jyrki Okkonen",
    note = "Project code: AUT4329",
    year = "1994",
    doi = "10.1016/0957-4158(94)90058-2",
    language = "English",
    volume = "4",
    pages = "861--877",
    journal = "Mechatronics",
    issn = "0957-4158",
    publisher = "Elsevier",
    number = "8",

    }

    Machine of the future : An intelligent paper roll manipulator. / Vähä, Pentti; Heikkilä, Tapio; Röning, Juha; Okkonen, Jyrki.

    In: Mechatronics, Vol. 4, No. 8, 1994, p. 861-877.

    Research output: Contribution to journalArticleScientificpeer-review

    TY - JOUR

    T1 - Machine of the future

    T2 - An intelligent paper roll manipulator

    AU - Vähä, Pentti

    AU - Heikkilä, Tapio

    AU - Röning, Juha

    AU - Okkonen, Jyrki

    N1 - Project code: AUT4329

    PY - 1994

    Y1 - 1994

    N2 - A general description of a control system for a prototype of an intelligent and skilled paper roll manipulator (PRM) is given. The elementary operations related to both manipulations and environment observations are described, and explanation regarding the integration of these with a hierarchically organized planning-executing-monitoring architecture (PEM) is given. The kernel of PEM architecture is a goal-oriented module consisting of these three principle parts. The motion control of the paper roll manipulator is divided into free motion (gross motion) and force-constrained motion (fine motion) phases. Gross motion control takes the paper roll from the starting position to the vicinity of the goal position, whereas the fine motion control is used in placing the paper roll against other paper rolls and the support, e.g. the other paper rolls and walls of a ship. For coarse recognition of the environment a 3D laser device is used. The accurate position of paper rolls in the picking phases is measured with the aid of an ultrasonic sensor system, and the final force constrained placement is carried out with force-sensing based on measurements of hydraulic pressures of the manipulator system.

    AB - A general description of a control system for a prototype of an intelligent and skilled paper roll manipulator (PRM) is given. The elementary operations related to both manipulations and environment observations are described, and explanation regarding the integration of these with a hierarchically organized planning-executing-monitoring architecture (PEM) is given. The kernel of PEM architecture is a goal-oriented module consisting of these three principle parts. The motion control of the paper roll manipulator is divided into free motion (gross motion) and force-constrained motion (fine motion) phases. Gross motion control takes the paper roll from the starting position to the vicinity of the goal position, whereas the fine motion control is used in placing the paper roll against other paper rolls and the support, e.g. the other paper rolls and walls of a ship. For coarse recognition of the environment a 3D laser device is used. The accurate position of paper rolls in the picking phases is measured with the aid of an ultrasonic sensor system, and the final force constrained placement is carried out with force-sensing based on measurements of hydraulic pressures of the manipulator system.

    U2 - 10.1016/0957-4158(94)90058-2

    DO - 10.1016/0957-4158(94)90058-2

    M3 - Article

    VL - 4

    SP - 861

    EP - 877

    JO - Mechatronics

    JF - Mechatronics

    SN - 0957-4158

    IS - 8

    ER -