Topic
Articulated robot
About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.
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Book•
01 Mar 1993
TL;DR: Control of robot manipulators , Control of robot Manipulators , مرکز فناوری اطلاعات و £1,000,000; اوشاوρز رسانی, کسورزی;
Abstract: Control of robot manipulators , Control of robot manipulators , مرکز فناوری اطلاعات و اطلاع رسانی کشاورزی
1,146 citations
Proceedings Article•
01 Jan 1983
659 citations
Book•
25 Apr 1991
TL;DR: 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.
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.
652 citations
09 Oct 2006
TL;DR: An efficient collision detection method that uses only proprioceptive robot sensors and provides also directional information for a safe robot reaction after collision is presented.
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.
650 citations
19 May 2008
TL;DR: The VS- Joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior that allows an easy adaption to a big variety of tasks and provides excellent attributes for the use in shoulder and elbow joints of an anthropomorphic robot arm.
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.
533 citations