The ARAS-CAM Robot

Developed in the ARAS robotics research group, ARAS-CAM robot is a fast deployable suspended cable driven manipulator with three degrees of translational freedom. Owing to its large workspace and easy installation process, the robot is a suitable tool for performing video capturing tasks in sport fields or movie industries.

Implementation Details

Software and Algorithms:

ARAS-CAM is aimed to be a fast deploy-able robot. This agenda means that the robot should be robust against uncertainties; the instrumentations should be maintainable in the field and, the installation and calibration procedures must be fast and straightforward. As such, We, in the ARAS PACR group, are investigating novel and efficient algorithms to realize this goal.

State Estimation:

The first essential requirement for controlling the robot is to know its internal states. For this reason, we investigate classical fusion as well as data-driven AI perception methods to create a robust and accurate state estimation module for the ARAS-CAM robot. This module exploits the data from visual, inertial, and kinematic joint-space sensors and combines them to yield reliable and accurate measurements. As a deploy-able robot, ARAS-CAM should be easy to install and calibrate at new locations. As such, developing effective multi-modal calibration algorithms is a must. Algorithms that can use the information from the multiple sensors within the robot to estimate its kinematic and dynamic parameters.

No matter how accurate the calibration is or how high quality the sensor systems are, there always remains some amount of uncertainty in the system. Uncertainties that can either be due to simplified mathematical models or their parameters. As such, we investigate robust and adaptive control strategies that can tolerate this discrepancy. The robot is comprised of mechanical structures whose movements are sensed through a network of sensors and controlled using servo actuators. These network of sensors and actuators are controlled by a hetrogenous real-time embedded system. Most of these hardware components and modules are designed and implemented in the ARAS PACR lab.