Articulated robot

About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.

Collision detecting-stopping control method in articulated robot

Abstract: PROBLEM TO BE SOLVED: To highly accurately detect the occurrence of a collision in a short time from a fluctuation in joint driving torque generated by the collision, to relieve interference force from an obstacle at stopping processing time after detecting the collision, and to minimize damage. SOLUTION: Torques T1 , T2 and T3 to be generated by respective motors at collision nonoccurrence time are anticipated by an inverse dynamic operation from a position θm, a speed θd m, and acceleration θdd m of the motors detected by servo drivers 21 , 22 and 23 for controlling the respective joint driving motors 11 , 12 and 13 of a robot. A difference ΔT between the torque anticipative value and a torque command value Tm actually generated by the servo drivers or the joint driving torque calculated from a torque response value is determined. When an absolute value of the difference ΔT is larger than a preset determining value e, it is regarded that the collision is caused. After the collision, the joints are made to perform escape operation to reduce the interference force.

New robot mechanisms for new robot capabilities

Abstract: The authors note a need to overcome the deficiencies inherent in conventional manipulator mechanisms. Joint torque controllability, optimal dynamic characteristics, motion redundancy, and fine manipulation ability are among the basic characteristics that would be desirable attributes of advanced robot systems. The paper discusses the limitations of current robot technology and describes the ongoing effort at Stanford University for the development of high-performance force-controlled robot systems to provide the advanced capabilities needed for carrying out dextrous manipulation tasks. >

Development and Control of a High Maneuverability Wheeled Robot with Variable-Structure Functionality

Abstract: Common wheeled robots face many difficulties when traveling in complex environments, especially its incapability to climb over obstacles higher than its wheel radius. Many alterations were made to these robots to allow them to travel in rough terrains or conquer high obstacles, nevertheless, most designs are complex in nature and lost several original wheeled robot advantages by gaining others. In this paper, we propose a novel wheeled type robot with variable structure functionality. It is designed with simple structure consisting of three main robot parts, the main body, the left and right wheel-arm units. The robot could achieve five locomotion modes that allows the robot to travel in various environments and climb over high obstacles. Moreover, the fast-speed advantage in flat floor condition that common wheeled robot originally hold is still remained. The confirmation of the effectiveness of the robot's maneuverability is shown by several experimental results.

A Spatial Translational Cable Robot

Abstract: In this paper, a novel design has been presented for a spatial translational cable-driven robot. The original design of this robot was introduced by Bosscher et al. (2005, “A concept for rapidly-deployable cable robot search and rescue systems,” DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA). In this paper, a structure has been proposed to enhance the workspace of the robot. This has been done by using more cables in the mechanism. However, no extra actuator has been added to the robot. Additionally, a method has been proposed to obtain the workspace of the presented robot by calculating the available moment (AM) set in each point of space. The results imply that the workspace of the robot has been enhanced significantly by using the new design.

Detection of stair dimensions for the path planning of a bipedal robot

Abstract: This paper deals with the detection of the characteristics of stairs, i.e. the number of steps, the step height and the step width for online path planning of a bipedal robot. For the construction of a multi-purpose, mobile platform for service robot applications with special respect to the human environment, a biped is more advantageous than a wheel based robot. In the framework of our studies, the bipedal robot BARt-UH has been built and walking as well as the climbing of stairs have been realized. The environment of the robot is assumed to be structured, consisting of flat surfaces and stairs, but not known in advance. Therefore, a state transition algorithm for intelligent path planning of the robot is suggested. Further, a stereo vision module with a line laser is considered, in order to detect the stair dimensions. The necessary information is extracted from the projection of the line laser onto the stairs. To achieve this, three algorithms were implemented and a comparative study was carried out.