Articulated robot

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

Task-constrained motion planning with moving obstacles

Abstract: We consider the problem of planning the motion of redundant robotic systems subject to geometric task constraints in the presence of obstacles moving along known trajectories. Building on our previous results on task-constrained motion planning, we propose a control-based motion planner that works directly in the task-constrained configuration space extended with the time dimension. The generated trajectories are collision-free and satisfy the task constraint with arbitrary accuracy. Bounds on the achievable generalized velocities may also be taken into account. The proposed approach is validated through planning experiments on a 7-dof articulated robot and an 8-dof mobile manipulator.

Object recognition and obstacle avoidance robot

Abstract: Design highlights of a “Three-wheeled Autonomous Navigational Robot” are presented in this paper. An efficient modular architecture is proposed for ease of adding various modules to the robot. Obstacle detection, pattern recognition and obstacle avoidance are the key aspects of the design. The robot has intelligence built into it that enables it to recognize and pick up balls of a particular colour and ignore other objects in its path. A single board computer mounted on the robot acts as the central controller. It communicates with ultrasonic sensors and motors through multiple microcontrollers and controls the entire motion of the unit. As part of the robot design, a modified H-bridge circuit for driving DC motors efficiently is proposed in this paper.

Development of Hexapod Robot with Manoeuvrable Wheel

Abstract: The necessity to utilize the usage of the robot cannot be denied since there are a lot of natural disasters occur everywhere around the world. The robot that can be used in this situation may be a remotely controlled by human or moves autonomously. Hexapod robot is one of the robots used in this situation because of its stability and flexibility during the motion on any type of surface. Hexapod robot is a robot that has six legs to walk or move. Since the robot has many legs, the robot is easily programmed to move around because it can be configured to many types of gait such as alternating tripod, quadruped and crawl. There are various designs of hexapod with certain function and advantages. In this research, a hexapod robot with manoeuvrable wheel is designed and developed. The purpose of the hexapod robot with manoeuvrable wheel is to ease the movement either on the flat surface or on the inclined surface. On the flat surface, the robot will move using the manoeuvrable wheel while on incline surface, the robot will climb using its legs. The decisions for the robot to use either wheel or legs are based on the sensory devices and algorithm develops at the controller attached to the robot.

Robotic work positioning system

Abstract: A robotic work positioning system includes programmed, powered robot, and a non-powered arm which is locatable at various positions in three dimensional space by means of the powered robot. A mating interconnection is provided on the non-powered arm whereby the non-powered arm may be accurately engaged and positioned by the powered robot for holding a part or workpiece at an accurately predetermined location. Together with the powered robot, the non-powered arm facilitates the accurate assembly of component parts. One or more non-powered arms can be used to generate three dimensional tooling which can be altered robotically.

Mechatronics for a new robot generation

Abstract: The paper outlines the DLR's mechatronic developments in the robotics area over the last five years. They aim at designing a new multisensory, modularly configurable lightweight robot generation in a unified and integral way. A first step in this direction has been the development of a complex multisensory gripper. It turned out to be a key element in ROTEX, the first real robot in space that flew with shuttle Columbia in early 1993. Sensors and actuators in DLR's new ultra-lightweight robot show up miniaturized integration of mechanics, electronics, and microprocessor control. Joint torque control based on inductive sensing is realized in the compact, highly reducing rotational gearings. With optimized carbon-fiber grid structures, optical high-speed information transfer between the joints and all power and signal electronics integrated into the arm, a new extremely lightweight type of robot arises. Joint control concepts are outlined and a 7 degree-of-freedom version of such a lightweight arm is described. The paper also outlines the concept of the artificial muscle and its use in the fingers of a new modular articulated robot hand. Sensor-based man-machine interfaces and automatic camera guidance by robots in minimal invasive surgery are other topics covered in the paper.