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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09 May 2011
TL;DR: It is demonstrated that passive joint displacements information is sufficient to infer a coarse estimate of the location of an incidental collision in a closed-form inference model based on a serial chain with joint springs.
Abstract: Manipulators with compliant actuation exhibit passive joint displacements when exposed to external forces or collisions. This paper demonstrates that this displacement information is sufficient to infer a coarse estimate of the location of an incidental collision. Three techniques for contact point detection are compared: a closed-form inference model based on a serial chain with joint springs, a variation on Self Posture Changeability, and an empirical memory-based model of joint trajectories. The methods were experimentally tested using a Shadow Hand on an industrial Motoman SDA10 arm to quantify localization performance, actively discover and avoid a thin obstacle and localize and grasp a cup.
18 citations
01 Sep 2013
TL;DR: This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace.
Abstract: Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB R2007 is used to analyse end effectors position for a set of joint parameter.
18 citations
TL;DR: In this article, a hybrid-quasitatic analysis was performed to investigate the influence of phase-shifted harmonic inputs on performance of crawling gaits, including sensitivity analysis to friction uncertainties and energetic cost of transport.
Abstract: Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness we study our soft robot with two bending actuators via an articulated three-link model. The solution of statically indeterminate systems with stick-slip contact transitions requires for a novel hybrid-quasitatic analysis. Then, we utilize our analysis to investigate the influence of phase-shifted harmonic inputs on performance of crawling gaits, including sensitivity analysis to friction uncertainties and energetic cost of transport. We achieve optimal values of gait parameters. Finally, we fabricate and test a fluid-driven soft robot. The experiments display remarkable agreement with the theoretical analysis, proving that our simple model correctly captures and explains the fundamental principles of inchworm crawling and can be applied to other soft-robotic legged robots.
18 citations
22 Jun 2016
TL;DR: In this paper, the authors present requirements on a articulated robot arm in service robotics and the derivation of requirements for a single joint of this arm, where a modular concept with joint modules, each one realizing one axis of the robot arm connected by intermediate elements is proposed.
Abstract: This paper presents requirements on a articulated robot arm in service robotics and the derivation of requirements on a single joint of this arm. A modular concept with joint modules, each one realizing one axis of the robot arm connected by intermediate elements is proposed. Furthermore, the integration of a permanent magnet excited transverse flux machine as joint drive in this application is discussed. Transverse flux machines typically offer a high torque density at low speed. As torque demand increases from wrist to shoulder joint and speed demand decreases at the same time, this paper concentrates on the design of a shoulder joint module, where the integration of a transverse flux machine seems to be most promising. A design of a transverse flux machine as drive of an exemplary shoulder joint is proposed and results from a three dimensional finite element simulation are presented.
18 citations
Patent•
06 Nov 1984
TL;DR: In this article, a pneumatic control circuit that enables a user to position the robot's gripper arm at positions intermediate of fully up and fully down is presented. But it does not specify a set of safety switches that encourage a user, when near the robot, to keep a hand on the robot so as not to be accidentally injured by its motion.
Abstract: A robotic cell, or work area, especially useful for education. The cell has a plurality of interchangable work surfaces for mounting objects that the robot manipulates. Students, researchers, or other workers can thus set up separate experiments that need not be torn down each time a different user begins work with the cell. The cell has safety switches that encourage a user, when near the robot, to keep a hand on the robot so as not to be accidentally injured by the robot's motion. There is also a dead man switch effective to disenable the robot entirely, after a short time delay. The cell has a pneumatic control circuit that enables a user to position the robot's gripper arm at positions intermediate of fully up and fully down.
18 citations