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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Patent•
15 Nov 2006
TL;DR: In this article, a method for controlling a robot arm, which is particularly suitable for use in medical applications, is used. But this method requires the robot arm to have a redundant number of joints and the torque acting in at least one joint is sensed.
Abstract: In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm ( 10 ) with a redundant number of joints is used. A torque acting in at least one joint ( 12 a, 12 b ) is sensed. By means of a control device, the torque acting in this joint ( 12 a, 12 b ) is controlled to become substantially 0.
130 citations
Patent•
11 Mar 1997TL;DR: In this paper, the authors present an approach to enable small-volume, high-diversity production to be conducted efficiently, in the same way as in the conventional FMS, whilst at the same time overcoming problems associated with the conventional techniques, such as the complexity of creating programs for manufacturing processes, work interruptions due to robot breakdown, and ''deadlock` incidents arising during operation.
Abstract: An object of the device according to the present invention is to enable small-volume, high-diversity production to be conducted efficiently, in the same way as in the conventional FMS, whilst at the same time overcoming problems associated with the conventional techniques, such as the complexity of creating programs for manufacturing processes, work interruptions due to robot breakdown, and `deadlock` incidents arising during operation. When seed data indicating an objective task (for example, the task of completing a particular product) is input to a computer, by communicating with hardware robots via a communications network, the computer selects a plurality of hardware robots, which are capable of implementing cooperatively the objective task indicated by the input seed data, and which are not engaged in any task based on other seed data. A software robot is created by inputting the seed data to at least one of the selected plurality of hardware robots. When the plurality of robots have been operated by means of the generated software robot and have completed the objective task, the seed data is withdrawn from the hardware robot(s) to which it was input.
128 citations
Patent•
27 Nov 1991TL;DR: In this paper, a servo system for controlling locomotion of a biped walking robot to follow up a target angle for each drive predetermined in series with respect to time is presented.
Abstract: A servo system for controlling locomotion of a biped walking robot to follow up a target angle for each drive predetermined in series with respect to time. The control is stabilized by reducing the load on the on-board computer through the provision of an analog circuit for velocity control which has to be carried out in short control cycle and a digital circuit for positional control which can be carried out in relatively long control cycle. For reducing the control deviation to substantially zero, open-loop control is adopted for the motor angular velocity so as to prevent delay from arising in the joint angle control and position feedback control is conducted only in case where a deviation arises between the target joint angle and the actual joint angle owing to external disturbance or the like.
128 citations
24 Apr 2000
TL;DR: The crystalline module concept and a physical implementation of a robot system with ten units, which permits automated shape metamorphosis, are described and described.
Abstract: We discuss a physical implementation of the crystalline robot system. Crystalline robots consist of modules that can aggregate together to form distributed robot systems. Crystalline modules are actuated by expanding and contracting each unit. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and a physical implementation of a robot system with ten units. We describe experiments with this robot.
126 citations
TL;DR: A recursive implementation applicable to both open and closed kinematic chains, as well as rules for obtaining minimal parametrizations are developed and illustrated experimentally on a four-degrees-of-freedom articulated robot arm.
Abstract: Effective adaptive controller designs potentially combine high speed and high precision in robot manipulation and further more can considerably simplify high-level programming by providing consistent performance in the face of large varia tions in loads or tasks. A simple, globally tracking-conver gent, direct adaptive manipulator controller has previously been developed and experimentally demonstrated. In this article, we further explore the performance issues linked to a computationally effective implementation. Specifically, we develop a recursive implementation applicable to both open and closed kinematic chains, as well as rules for obtaining minimal parametrizations. We also discuss implementations of the algorithm directly in Cartesian space, the exploitation of kinematic redundancies, and applications to adaptive compliant motion control. These developments are illustrated experimentally on a four-degrees-of-freedom articulated robot arm and suggest a wide range of application well beyond adaptati...
126 citations