Journal ArticleDOI
A PC based configuration controller for dexterous 7-DOF arms
TLDR
This implementation of a configuration controller for a dexterous 7-DOF manipulator on an IBM-compatible personal computer represents a step toward high-performance robotic controllers designed with consumer electronics.Abstract:Â
This implementation of a configuration controller for a dexterous 7-DOF manipulator on an IBM-compatible personal computer represents a step toward high-performance robotic controllers designed with consumer electronics. The system has the capability for 3D graphical animation of the arm motion, which is performed on a separate single-board computer interfaced to the PC. Several experiments have shown the control performance comparable to that obtained with more expensive computing platforms.read more
Citations
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Journal ArticleDOI
A Design and Control Environment for Internet-Based Telerobotics
Roberto Oboe,Paolo Fiorini +1 more
TL;DR: An environment for the design, simulation, and control of Internet-based force-reflecting telerobotic systems as using a segment of the computer network to connect the master to the slave is described.
Proceedings ArticleDOI
Health care robotics: a progress report
TL;DR: The architecture of the system, the features of the manipulator arm, and the operator interface are described, which followed in the design of a service robot for health care applications.
Proceedings ArticleDOI
6-DOF PC-Based Robotic Arm (PC-ROBOARM) with efficient trajectory planning and speed control
TL;DR: The design and development of 6-DOF (degree of freedom) PC-Based Robotic Arm (PC-ROBOARM) is introduced, which is modeled as three-link, with each joint connected with a suitable servomotor.
Proceedings ArticleDOI
A design methodology for distributed control systems to optimize performance in the presence of time delays
TL;DR: A theoretical framework is presented which allows the effect of time delays on the mechanical performance of the system to be precisely modeled, and these models are used to determine the optimal network architecture for the given control system.
Journal ArticleDOI
A design methodology for distributed control systems to optimize performance in the presence of time delays
TL;DR: A theoretical framework is presented which allows the effect of time delays on the mechanical performance of the system to be precisely modelled, and these models are used to determine the optimal network architecture for the given control system.
References
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Journal ArticleDOI
Configuration control of redundant manipulators: theory and implementation
TL;DR: The configuration control scheme is implemented for real-time control of three links of a PUMA 560 industrial robot, and experimental results are presented and discussed, and its capabilities for performing various realistic tasks are demonstrated.
Proceedings ArticleDOI
The phantom robot: predictive displays for teleoperation with time delay
TL;DR: Predictive display enhanced the human operator's telemanipulation task performance significantly during free motion when there is a long time delay, it appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.
Journal ArticleDOI
Improved configuration control for redundant robots
Homayoun Seraji,Richard Colbaugh +1 more
TL;DR: A singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators that suppresses large joint velocities near singularities, at the expense of small task trajectory errors.
Journal ArticleDOI
Kinematic analysis of 7-DOF manipulators
TL;DR: In this article, a kinematic analysis of seven-degree-of-freedom serial link spatial manipulators with revolute joints is presented, where the redundancy is parameterized by a scalar variable that defines the angle between the arm plane and a reference plane.
Journal ArticleDOI
Demonstration of a high-fidelity predictive/preview display technique for telerobotic servicing in space
Won S. Kim,Antal K. Bejczy +1 more
TL;DR: A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale.