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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 ArticleDOI
01 Dec 2014
TL;DR: The development of a mobile robot that uses Fuzzy Logic approach to control a robot's movement in an area cluttered with static obstacles is presented and indicated that WEBOT and Mathlab are suitable tools that could be use to develop and simulate mobile robot navigation system.
Abstract: Autonomous mobile robot is a mobile robot that can move without human supervision. The use of autonomous mobile robots has increased in various fields such as in the industrial, agricultural, and military sectors. This paper presents the development of a mobile robot that uses Fuzzy Logic approach to control a robot's movement in an area cluttered with static obstacles. In the experiment presented herewith, the controller was programmed with 256 Fuzzy Logic rules and the input to the system is from an E-puck robot that is equipped with infrared sensors. Webot Pro and Matlab are the software used in the development and simulation of the robot. The mobile robot was designed to move and avoid static obstacles. The performance of the mobile robot was evaluated from the way it avoids the obstacles, and the time taken when it move from a starting point to an end point. The results showed that the robot could avoid the obstacle successfully in various types of static environments. This research also indicated that WEBOT and Mathlab are suitable tools that could be use to develop and simulate mobile robot navigation system.

18 citations

Patent
09 Oct 2002
TL;DR: In this paper, an industrial robot having a plurality of arms is coupled with other elements, such as a mounting base, another arm, a robotic hand, and revolved by a motion of the revolvable joint.
Abstract: In an industrial robot having a plurality of arms, each arm is coupled with other elements, such as a mounting base, another arm, a robotic hand, and revolved by a motion of the revolvable joint The revolvable joint has a rotary electric connecting structure such as a slip ring or a rotary transformer which can be rotated endlessly Electric powers for driving motors by which the arms are revolved and control signals for controlling the driving of the motors are supplied or transmitted through the rotary electric connecting structure, so that the arms can be rotated endlessly without twisting or breaking of electric cables

18 citations

Journal ArticleDOI
TL;DR: It is shown that the proposed system provides a control loop which is independent of the number of robots pushing on each arm, showing that a combination of multi-agent and deliberative architectures can define intelligent and robust multi-robot systems.

18 citations

Journal ArticleDOI
TL;DR: Experimental results illustrate that the proposed neural-network-based controller possesses a remarkable learning capability to control complex dynamical systems, virtually without requiring a priori knowledge of the plant dynamics and laborious start-up procedures.
Abstract: In this work, a new dynamical on-line learning algorithm for robust model-free neuro-adaptive control of a class of nonlinear systems with uncertain dynamics is proposed and experimentally tested in order to evaluate its performance and practical feasibility in industrial settings. The control application studied is the trajectory tracking control task for the first three joints of an open architecture articulated robot manipulator. The control scheme makes use of variable structure systems theory and the feedback-error-learning concept. An inner sliding motion is established in terms of the neurocontroller parameters, aiming to lead the error in its control signal towards zero. The outer sliding motion bears on the system under control, the state tracking error vector of which is simultaneously driven towards the origin of the phase space. The existing relation between the two sliding motions is shown. Experimental results illustrate that the proposed neural-network-based controller possesses a remarkable learning capability to control complex dynamical systems, virtually without requiring a priori knowledge of the plant dynamics and laborious start-up procedures. Copyright © 2007 John Wiley & Sons, Ltd.

18 citations

Journal ArticleDOI
01 Apr 1990-Robotica
TL;DR: Etude des possibilites d'amelioration de la capacite de charge utile aussi bien que les capacites de vitesse et d'acceleration d'un robot conventionnel.
Abstract: The payload capacity of a conventional robot is usually limited as compared to the mass of the robot body. This is because a payload adds additional gravity loadings to the robot joints resulting in large input joint torques. To reduce the required input joint torques, the authors have proposed a mechanical balancing mechanism. Basically, the mechanism was designed to exactly balance the first three links of an articulated robot by adjusting the positions of counter-balancing masses so as to eliminate the gravity loading terms. Since the input joint torques are greatly reduced by adopting balancing mechanisms, a balanced robot is expected to carry heavier payload and move with higher speed and acceleration. This paper further investigates the possibilities of improving the payload capacity as well as speed and acceleration capabilities. These features were investigated under various operating conditions involving payload, maximum angular velocity, and acceleration period. Based upon the simulation results, the performances of the balanced robot are compared in detail with those of a unbalanced conventional robot.

17 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20233
20227
202152
202060
201965
201877