Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios

Research output: Chapter in Book/Report/Conference proceedingOther chapter contribution

2 Citations (Scopus)
52 Downloads (Pure)

Abstract

This paper presents a hybrid test method that enables the investigation of contact-impact scenarios in complex systems using kinematically versatile, off-the-shelf industrial robots. Based on the pseudo-dynamic test method, the technique conducts tests on an enlarged time scale, thereby circumventing control rate and response time limitations of the transfer system. An initial exploratory study of a drop test demonstrates that non-rate dependant effects including non-linear stiffness and structural hysteresis can be captured accurately while limitations result from the neglect of rate- and time-dependant effects such as viscous damping and creep. Future work will apply the new method to contact scenarios in air-to-air refuelling.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings
EditorsClaire Dixon, Karl Tuyls
PublisherSpringer
Pages50-55
Number of pages6
ISBN (Electronic)978-3-319-22416-9
ISBN (Print)978-3-319-22415-2
DOIs
Publication statusPublished - 18 Jul 2015

Publication series

NameTowards Autonomous Robotic Systems
Volume9287
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Fingerprint

Air refueling
Industrial robots
Contacts (fluid mechanics)
Hysteresis
Large scale systems
Creep
Robotics
Damping
Stiffness
Testing
Air

Cite this

Bolien, M., Iravani, P., & Du Bois, J. L. (2015). Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios. In C. Dixon, & K. Tuyls (Eds.), Towards Autonomous Robotic Systems: 16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings (pp. 50-55). [Chapter 7] (Towards Autonomous Robotic Systems; Vol. 9287). Springer. https://doi.org/10.1007/978-3-319-22416-9_7

Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios. / Bolien, Mario; Iravani, Pejman; Du Bois, Jonathan Luke.

Towards Autonomous Robotic Systems: 16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings. ed. / Claire Dixon; Karl Tuyls. Springer, 2015. p. 50-55 Chapter 7 (Towards Autonomous Robotic Systems; Vol. 9287).

Research output: Chapter in Book/Report/Conference proceedingOther chapter contribution

Bolien, M, Iravani, P & Du Bois, JL 2015, Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios. in C Dixon & K Tuyls (eds), Towards Autonomous Robotic Systems: 16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings., Chapter 7, Towards Autonomous Robotic Systems, vol. 9287, Springer, pp. 50-55. https://doi.org/10.1007/978-3-319-22416-9_7
Bolien M, Iravani P, Du Bois JL. Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios. In Dixon C, Tuyls K, editors, Towards Autonomous Robotic Systems: 16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings. Springer. 2015. p. 50-55. Chapter 7. (Towards Autonomous Robotic Systems). https://doi.org/10.1007/978-3-319-22416-9_7
Bolien, Mario ; Iravani, Pejman ; Du Bois, Jonathan Luke. / Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios. Towards Autonomous Robotic Systems: 16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings. editor / Claire Dixon ; Karl Tuyls. Springer, 2015. pp. 50-55 (Towards Autonomous Robotic Systems).
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