Articulated robot

About: Articulated robot is a(n) research topic. Over the lifetime, 4364 publication(s) have been published within this topic receiving 52442 citation(s).

Control of Robot Manipulators

Abstract: Control of robot manipulators , Control of robot manipulators , مرکز فناوری اطلاعات و اطلاع رسانی کشاورزی

Robot Control: The Task Function Approach

Abstract: From the Publisher: A complete approach to the problem of controlling robot manipulators needs to bring together three scientific branches: computer science, mechanics, and automatic control.

Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm

Abstract: A robot manipulator sharing its workspace with humans should be able to quickly detect collisions and safely react for limiting injuries due to physical contacts. In the absence of external sensing, relative motions between robot and human are not predictable and unexpected collisions may occur at any location along the robot arm. Based on physical quantities such as total energy and generalized momentum of the robot manipulator, we present an efficient collision detection method that uses only proprioceptive robot sensors and provides also directional information for a safe robot reaction after collision. The approach is first developed for rigid robot arms and then extended to the case of robots with elastic joints, proposing different reaction strategies. Experimental results on collisions with the DLR-III lightweight manipulator are reported.

A new variable stiffness design: Matching requirements of the next robot generation

Abstract: Facing new tasks, the conventional rigid design of robotic joints has come to its limits. Operating in unknown environments current robots are prone to failure when hitting unforeseen rigid obstacles. Moreover, safety constraints are a major aspect for robots interacting with humans. In order to operate safely, existing robotic systems in this field are slow and have a lack of performance. To circumvent these limitations, a new robot joint with a variable stiffness approach (VS-Joint) is presented. It combines a compact and highly integrated design with high performance actuation. The VS- Joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior. This allows an easy adaption to a big variety of tasks. A benefit of the joint is its intrinsic robustness against impacts and hard contacts, which permits faster trajectories and handling. Thus, it provides excellent attributes for the use in shoulder and elbow joints of an anthropomorphic robot arm.