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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Proceedings Article•
01 Jan 2004
TL;DR: This paper presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics, which is based on the travelled distance increment ∆l and can be identified through classical methods such as Recursive Least Mean Squares.
Abstract: This paper presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x, y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment ∆l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: ∆l can not directly measured. In this paper, this problem is solved using an estimate f ∆l based on a second order curve approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot.
21 citations
Patent•
17 Oct 2007
TL;DR: In this article, a modularized control system for an articulated robot, which is based on CAN bus, is described, in which the control system comprises a PC, a CAN intelligence interface card, a plurality of control modules (wherein, each control module controls one articulation of the robot), and a CAN bus for connecting the modules.
Abstract: The present invention relates to a modularized control system for an articulated robot, which is based on CAN bus. The present invention is characterized in that the control system comprises a PC, a CAN intelligence interface card, a plurality of control modules (wherein, each control module controls one articulation of the robot), and a CAN bus for connecting the modules and the CAN intelligence interface card. In the control system of the present invention, a two circuit CAN intelligence interface card is connected to the PC by an USB interface at one end, and is connected to the CAN bus by a CAN bus interface at the other end; the control module is connected to the CAN bus. The system and method of the present invention has excellent portability, short development cycle, low cost, regrouping property, fungible property, openness and high stability, and can execute on-line monitoring to robot.
21 citations
Patent•
26 Sep 1994
TL;DR: In this article, the robot operation training system has a controller substantially the same as the actual robot controller and a personal computer for simulating the functions of the robot body, which can be applied easily to various robots of different models.
Abstract: To start robot training before an actual robot is manufactured or installed, the robot operation training system has a controller substantially the same as the actual robot controller and a personal computer for simulating the functions of the robot body. The training system can be applied easily to various robots of different models.
21 citations
03 Dec 2010
TL;DR: This paper proposes optimum solutions obtained from a combination of kinematic performances and compactness indices for a 4 degree-of-freedom robot dedicated to tele-echography.
Abstract: This paper deals with the optimization of the design of a 4 degree-of-freedom robot dedicated to tele-echography. It has been designed to reproduce in real time on a patient, the medical gestures performed by a remote expert moving a fictive probe. Our goal is to optimize the kinematic structure to determine geometrical parameters, as they have a significant role in the singularities localization. In this paper, we propose optimum solutions obtained from a combination of kinematic performances and compactness indices.
21 citations
20 Jun 2005
TL;DR: In this paper, a vision-based strategy for guidance of walking robots in structured scenarios is presented, where computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles.
Abstract: Locomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking. This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles. A highly accurate visual feedback is achieved by a combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach was evaluated by experiments with a real humanoid robot. I. INTRODUCTION
21 citations