Dynamic Robot Interaction and Motion Compensation

The goal of this project has been to develop methods and algorithms that allow industrial robots to interact with and handle moving objects in real time. The project has had two focus areas: manufacturing and health care. The manufacturing case focused on developing a live demo for picking up and placing different objects on moving overhead hangers with a collaborative robot manipulator arm. The robot compensates for the swinging motion of the hanger in real time and smoothly performs the pick and place operation. The health case aimed at developing a demonstrator for performing completely autonomous ultrasound examinations of the main abdominal artery. Here, the robot is equipped with both an ultrasound probe and a 3D camera. First, we have implemented a ray tracing algorithm for estimating the initial robot trajectory based on an anatomical atlas. Then, the robot uses the 3D camera in combination with a method for patient-to-atlas registration to find the starting point on the patient’s belly and start the examination. Finally, the ultrasound images are automatically analyzed in real time to identify the aorta, and an adaptive path planner adjusts the trajectory accordingly.

The impact of the results of this project have been extended in both the manufacturing and the health industry. As far as the manufacturing industry is concerned, the results of the project and espesially the compensation of the swinging motion of the hangers in real time gives the possibility for a more secure and effective production line. Objects in hanging conveyors can be treated more effectively and with greater acurracy being able to predict their future motions. In addition, methods for prediction of motion and collision avoidance, also have a direct effect the manufacturing industry for interaction with moving objects. As far as the health industry is concerned, the project results have a direct effect in the help of modernization of the health industry in hospitlas giving equal opportunities for health ultrasound examinations, both for all people no matter where they live. Furthermore, physicians can gain advantages on doing ultrasound examinations with the help of robotic arms, since they can have new measurements opportunities and improved image quality of the scanned area.

The next two big steps in IOT towards 2025 is ubiquitous positioning for context specific data and services, and teleoperation - the ability to monitor and control distant objects. The industrial need for tracking and manipulating moving objects in real-time has been identified through industrial and research projects. In this project, we will develop methods that allow the interaction and manipulation of moving objects in real-time. The motion of the objects is constrained, but their position, orientation and velocity are only partly known in advance and therefore a real time estimation is needed. The objects that we are going to act upon may be rigid or soft, and the force used in the manipulation of the object has to be measured and controlled. Lastly, the robot has to be able to do complex operations on the object whilst the object is still in motion thus requiring a complex path planning and path adjustments in real time. Painting of objects or welding of small parts on moving objects are examples from the manufacturing industry where being able to manipulate moving objects will be very useful. Inspection and maintenance in the process industry, either tele operated or by an autonomous mobile robot, requires close contact measurement on moving (vibrating) objects and has similar challenges. In healthcare, assistive robotics require safe interactions with flexible objects (humans). Automation of interventional procedures necessitates research on real-time methods for detection and compensation of motion, in order to safely interact with patients and health personnel. The project group consists of four young researcher from medical imaging, estimation and robotic control with a good track academic track record and experience in working on industrial applications.