Articulated robot

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

VIsion force control in task-oriented grasping and manipulation

Abstract: In this paper, we present a novel approach for sensor-guided robotic execution of everyday tasks, which is amenable to be integrated in current mobile manipulators and humanoid robots We consider a robot which is observing simultaneously his hand and the object to manipulate, by using an external camera (ie robot head) Task-oriented grasping algorithms are used in order to plan a suitable grasp on the object according to the task to perform A new vision/force coupling approach [1] is used in order to, first, guide the robot hand towards the grasp position and, second, perform the task taking into account external forces Experimental results on a real robot are presented which validate our approach

A low cost hand-eye calibration method for arc welding robots

Abstract: Hand-eye calibration is one of the most important and fundamental tasks in performing visual guided robot control tasks. Many techniques have been proposed that use various expensive equipment ranging from a three dimensional positioning device to a laser measurement device. The work presented in this paper aims at developing a low cost robot hand/eye calibration method that is accurate and robust enough to be used in a robotic arc welding system. The proposed calibration method allows the camera and object frames to be referenced directly to the robots base co-ordinate frame. Experimental results show that the developed method can be used to achieve a calibration accuracy of 1 mm (in the directions of interest, X and Y axes) that is acceptable for robotic welding applications.

A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

Abstract: The peg-in-hole insertion and adjustment operation is one of the most common tasks in the robotic and automatic assembly processes. Fine motion strategies associated with adjustment operations on a peg-in-hole are fundamental manipulations that can be utilised in dynamic assembly and reconfigurable workholding or fixturing systems. This paper presents a comprehensive study of robotic-based height adjustment of a cylindrical pair based on maintaining minimum contact forces between the links. The outer link is held by the end-effector of a six-DOF (Degrees of freedom) serial articulated robot manipulator. The environment represented by the inner link can be either static or dynamic. A force-based approach and a d value approach are established to determine the type of contact that exists between the links of a cylindrical pair, and to extract control parameters. Based on the comparison and analysis of these two approaches, a hybrid methodology is established by combining a d value approach with a force-based approach for contact state determination. Formulations capable of extracting necessary control parameters, which ensure minimum contact forces between the links, are established from both planar and spatial viewpoints under both static and dynamic environmental conditions. Experimental results demonstrate the effectiveness of the proposed methodology.