Topic
Articulated robot
About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.
Papers published on a yearly basis
Papers
More filters
01 Mar 1987
TL;DR: The main idea of the approach is to reduce the problem to the analysis of simple closed curves on an appropriate two-dimensional manifold and extend the same ideas to simple 3d arms with two revolute joints whose endpoints travel along 2d manifolds whereas their bodies operate in a "normal" 3d space.
Abstract: This work continues the approach to sensor-based robot motion planning in an unknown environment first studied in [2,3] and further developed for various configurations of planar robot arms in [4,10]. The main idea of the approach is to reduce the problem to the analysis of simple closed curves on an appropriate two-dimensional (2d) manifold. We extend the same ideas to simple 3d arms with two revolute joints whose endpoints travel along 2d manifolds whereas their bodies operate in a "normal" 3d space. For such an arm, a path planning algorithm is described, its convergence is shown, and an example of the algorithm performance is given.
21 citations
21 May 1995
TL;DR: The machining automation with a robot and design a machining robot arm using the double parallel mechanism, which has a large work space as well as a high stiffness.
Abstract: Industrial robot has played a central role in the production automation such as welding, assembling, and painting. There has been however, little effort to the application of robots in machining works (grinding, cutting, milling, etc.) which are typical 3D works. The machining automation requires a high stiffness robot arm to reduce deformation and vibration. Conventional articulated robots serially connected links from the base to the gripper. So they have very weak structure for the machining work. Stewart platform is a typical parallel robotic mechanism with a very high stiffness but it has a small work space and a large installation space. This research proposes a new machining robot arm with a double parallel mechanism. It is composed of two platforms and a central axis. The central axis will connect the motions between the fist and the second platforms. Therefore, the robot has a large work space as well as a high stiffness. This paper will introduce the machining automation with a robot and design a machining robot arm using the double parallel mechanism.
21 citations
01 Dec 2013
TL;DR: A new system to synchronously control the simulated robot and humanoid robot based on the skeletal tracking technology based on human motion to achieve the human-machine interaction efficiently and the success rate is more than 90%.
Abstract: The purpose of this study is to develop a new system to synchronously control the simulated robot and humanoid robot based on the skeletal tracking technology. This system is a human-robot interaction system. Human can control the robot through the skeletal tracking technology without placing any marker on the subject's body. We use the Microsoft Kinect to get the skeleton framework information of the subject and input the data into the program. Therefore, the experiment has no demand on color to distinguish the subject's motions, and the subject can just perform in the front of the Kinect without wearing any control device. After processing the data, the computer controls the simulated robot to regenerate the subject's motions synchronously. In this study, we can control the simulated robot to do three different exercises. To verify the validity of the control system, we did a series of experiments to control a humanoid robot NAO. The experimental results show that the synchronous control system can distinguish the movements of human upper limb efficiently, and the cost is lower than that of the previous studies. This system controls both robot model and humanoid robot NAO based on human motion to achieve the human-machine interaction efficiently and the success rate is more than 90%.
21 citations
TL;DR: In this paper, the authors demonstrate force-free control under assigned friction, gravity and inertia for robot manipulators under ideal conditions of zero gravity and zero friction, and compare the effectiveness of the proposed forcefree control with independent compensation to the other force control methods.
21 citations
01 Sep 2018
TL;DR: The results shows that the developed smart actuator is good to substitute the joint actuator of UR5 robot, which is famous cost-effective HCR.
Abstract: Nowadays human-cooperative robot (HCR) become to be used in the industry and cost-effective manufacturing of it is required. The UR5 robot uses only three type of common-structured rotating joint actuators, which differs from size and power. So this robot become famous cost-effective HCR. The embedded rotating joint actuator for UR5-type HCR is known as a "smart actuator", because only connection of them with links becomes a 6-DOF robot manipulator. Recent development of networked motor drive technology with EtherCAT communication makes this connection and operation of robot manipulator easy. The analysis about forward and inverse kinematics for UR5 is found in many literatures. With help of these materials, the dynamic simulation about a smart actuator for UR5 robot is done in this paper. The co-simulation of motor drive and manipulator dynamics is done with Matlab / Simulink and Simscape Multibody. The results shows that the developed smart actuator is good to substitute the joint actuator of UR5 robot.
21 citations