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

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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.
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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.",
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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

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