IEEE Robotics & Automation Magazine - June 2018 - 116

yellow point and an arrow. The results indicate that the
SCR stops immediately when the QR code is lost in the
camera frame in Figure 12(b) and automatically resumes
following the QR code when it is redetected in Figure 12(c) and (d).
The process of passing through a narrow space is presented in Figure 13(a)-(d). The results indicate that the SCR can
make a sharp turn and pass through a channel 85-95 cm in
width. Moreover, the test results demonstrate that the robot
can pivot with respect to the center of the mobile base, benefiting from the base's omnidirectional mobility.

Fy (N )

10
5
0
-5
-10

ωy (rad/s )

Vx

5

10

20
25
Time (s)

15

20
25
Time (s)
(a)

0

5

10

15

20
25
Time (s)

0.04
0.02
0
-0.02

30

35

40

Vy (m/s)

Vxd

15

30

35

40

Tx (N . m)

10
5
0
-5
-10

0

10

30

Vzd
0

5

10

15

20
25
Time (s)
(c)

30

35

40
ωx (rad/s )

0.1
0.05
0
-0.05
-0.1

5

Vz
35

40

0.5

Tz (N . m)

Ty (N . m)

Vz (m/s)

Fz (N )

Vx (m/s)

0

0
-0.5

1.5
1
0.5
0
-0.5

0

5

10

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25
Time (s)

30

ωyd
0

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Time (s)
(e)

30

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40

ωz (m/s)

Fx (N )

Part Assembly
Close-up shots of the part assembly process are shown in
Figure 14(a)-(d). To demonstrate the movements of the

robot more clearly, we recorded these close-up shots with a
GoPro camera mounted on the workbench nearby the bench
vise. The corresponding edges of the parts are marked by the
yellow and red lines in each frame. In this process, the robot
works in the force servoing mode, and the human worker
operates the robot with the handlebar underneath the sixaxis F/T sensor. First, Figure 14(a) and (b) illustrate that
some preparatory maneuvers are conducted so that part A,
whose edges are marked by red lines, is lifted to approximately the same height as part B, whose edges are marked by
the yellow lines. Afterward, Figure 14(c) and (d) demonstrate
that some fine maneuvers are implemented to adjust the
position and orientation of part A to make the bolts on part
A align with the holes on part B and then to install part A
into part B.

ωy
35

40

10
5
0
-5
-10
0.1
0.05
0
-0.05
-0.1

1
0.5
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-1

0.01
0
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1
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-0.2

0

5

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25
Time (s)

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Vyd

Vy

0

5

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25
Time (s)
(b)

30

35

40

0

5

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25
Time (s)

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ωxd

ωx

0

5

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25
Time (s)
(d)

30

35

40

0

5

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Time (s)

30

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ωzd

ωz

5

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25
Time (s)
(f)

30

35

40

0

Figure 11. The variation of 3-D input force, 3-D torque, 3-D linear velocity, and 3-D angular velocity of the end effector, with interaction
time in the object loading process. The force and linear velocity in the (a) x axis, (b) y axis, (c) and z axis; the torque and angular
velocity in the (d) x axis, (e) y axis, and (f) z axis.

116

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IEEE ROBOTICS & AUTOMATION MAGAZINE

*

june 2018



IEEE Robotics & Automation Magazine - June 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2018

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