(For current Research Projects and Teams, please see the Projects section)
Robotics Research at Wayne State College of Engineering
Djuric Lab, located at the Engineering Technology building provides five distinct equipment and industrial software packages:
I) A full-scale industrial workcell equipped with the Fanuc S430iW Robot and gripper. The cell is fenced for safety purposes. This robot is used in automotive industry for different applications (welding, assembly, material handling, etc.).
II) Robot programming training. It is equipped with Fanuc LR Mate 200ic Robot and two-finger gripper.
III) Robot vision training. It is equipped with the Fanuc iR 2D vision system. Figure 1.
IV) 3D simulation and off-line programming. It is equipped with the Workspace LT and ROBOGUIDE industrial software packages, and Matlab software. See Figure 2.
V) Collaborative robotics and manufacturing. See Figure 3. This Baxter robot can be utilized for kinematic modelling of collaborative robots and collaborative manufacturing systems design.
Figure 1. Robotic Group I, II and III – Fanuc Robotics Systems
Figure 2. Robotic Group IV – Simulation and off-line programming
Figure 3. Robotic Lab V Baxter Robot in Advanced Collaborative Robotic Lab
My M.A.Sc., and PhD research ia in the area of Industrial robotics and Reconfigurable kinematic, dynamic and control modelling. This research aims at developing a highly reconfigurable control system which intelligently unifies the reconfiguration and manages the interaction of individual robotics control systems within a reconfigurable manufacturing system (RMS). For performing any reconfigurable control process, a reconfigurable plant model that represents different robotic systems was developed. The UKMS (Unified Kinematic Modeler and Solver) software package is shown in Figure 4. In this research six more reconfigurable modules has been developed: Reconfigurable Workspace, Reconfigurable Jacobian matrix, Reconfigurable singularity conditions, Reconfigurable dynamic model, Reconfigurable motors model and Reconfigurable control platform.
During my postdoctoral research, a new n-DOF Global Kinematic Model (n-GKM) has been developed. See Figure 5. Multi-DOF kinematic structure was generated for any combination of either rotational or translational type of joints. All possible kinematic structures are considered in 3D space, which is divided into eight subspaces and three planes. The planes are perpendicular to the x, y, and z axis of the kinematic structure’s base frame. The intersections of the three planes divide 3D space into eight subspaces. The kinematic structure generated using the proposed methodology belongs to any of the three surfaces or to any of the eight subspaces. This kinematic structure can be implemented for any robotic system or CNC machine. The related dynamic model has been developed and analyzed for different scenarios.
Figure 4. Unified Kinematic Modeler and Solver software
Figure 5. n-DOF Global Kinematic Model (n-GKM)
Robotic Research at the ET building
Kinematic modelling of Baxter Robot.
Collaborative Manufacturing Systems with Baxter Robot.
Design and Built of Robotic Nurse automated system.
Design and Built of Flying Car.
Kinematic and Dynamic Analysis of Arial Robotic Systems.
Design of the optimal mashie kinetics structure by moving its singularity space.
Singularity Analysis for a 6 DOF Family of Robots.
Effective Work Region Visualization for Serial 6 DOF Robots.
Cable-suspended Parallel Robot, kinematics, dynamics and control.
Development of the mathematical model of aerial robot for increasing its autonomy.
Design and build of reconfigurable machinery elements.
Development of the Functional Work Space for different machine’s structures.
Sensitivity and sliding mode control for planar manipulator.
Validation of special robots functions.
Design, build and test of the Flying Car.
Design, build and test of the Robotic Nurse for serving patients in hospitals.
Modelling and Simulation of the hospital and integration of the Robotic Nurse.
Creating games for collaborative robot Baxter to play with human.
Research and development of Industrial robotics simulation software using Matalb tool.
Reconfigurable machine modelling and solving.
Master of Science in Robotic Technology (MSRT)
I have recently received an internal funding to develop a Mater program in Robotics. The MSRT program includes multidisciplinary courses and labs, and they are integrated with the human-robot collaboration course and lab. See Figure 6. In this program I have developed six courses:
MIT5700 – Industrial Robots Modeling and Simulation
E T 5995 – Fanuc Robot Programming
E T 5995 – Fanuc 2D Vision and Applications
MIT5800 – Advanced Robot Dynamics
MIT6700 – Control and Optimization of Robotic Systems
MIT7200 – Advance Collaborative Robotic Systems (in progress)
Figure 6. Master of Robotics Engineering as multidisciplinary program