Articulated robot

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

Online motion planning for HOAP-2 humanoid robot navigation

Abstract: Autonomous robot navigation is becoming an increasingly important research topic for mobile robots. In the last few years, significant progress has been made towards stable robotic bipedal walking. This is creating an increased research interest in developing autonomous navigation strategies which are tailored specifically to humanoid robots. Efficient approaches to perception and motion planning, which are suited to the unique characteristics of biped humanoid robots and their typical operating environments, are receiving special interest. In this paper, we present a time-efficient motion planning system for a Fujitsu HOAP-2 humanoid robot. The sampling based algorithm is used to provide the robot with minimal free configuration space which is sampled to extract the robot path. For collision detection, a cylinder model is used to approximate the trajectory for the body center of the humanoid robot during navigation. It calculates the actual distances required to execute different actions of the robot and compares them with the distances to the nearest obstacles. The A* search algorithm is then implemented to find smooth and low-cost footstep placements of the humanoid robot within the resulting configuration space. The proposed hybrid algorithm reduces searching time and produces a smoother path for the humanoid robot at a low cost.

Optimal posture control for stability of intelligent cane robot

Abstract: An intelligent cane robot (iCane) was designed for aiding the elderly who have muscle weakness on lower limbs. A commercial omni-directional wheels robot was used as an omni-directional mobile base, and an aluminum stick was installed on the base of cane robot. A Concept called “intentional direction (ITD)” was proposed for estimating the user's walking intention by analyzing the signal of a 6-axis force/torque sensor which is fixed to the handle of stick. A universal joint driven by two DC motors was designed to control the posture of the stick. As a care-nursing device, the cane robot was designed to assist the elderly in both indoor and outdoor environments. Therefore the size and weight of cane robot should be minimized. But in that case, there is high risk that the cane robot would be pushed over by the user. In this paper a constrained nonlinear multivariable algorithm was designed to optimize the stable posture of cane robot. By controlling the posture of stick, the maximums sufferable torque moment which lead to cane robot falling over can be increased. The experimental results show that the stability of cane robot can be enhanced effectively.

Heavy-duty articulated robot control system with four degrees of freedom

Abstract: The utility model discloses a heavy-duty articulated robot control system with four degrees of freedom and the system comprises a multi-shaft motion controller, a PC, a human-computer interaction interface, a servo driver, a motor, a positioning sensor and a brake resistor, wherein the multi-shaft motion controller receives parameters of the human-computer interactive surface; the PC uploads and downloads programs via the multi-shaft motion controller and demonstrates debugging and operation of an online program of the multi-shaft motion controller; the human-computer interactive interface is communicated with the multi-shaft motion controller; the servo driver and the motor act as an executive component of a whole controlling system; the servo driver controls the motor according to an order made by the multi-shaft motion controller, collects in real time data fed back by a encoder of the motor and carries out enclosed control to motor operation; the positioning sensor limits motions of each shaft according to a route of each freedom degree of the robot; and the brake resistor secures the whole system and transforms regenerated energy of the motor into heat energy, thereby guaranteeing equipment safety. The heavy-duty articulated robot control system with four degrees of freedom is well structured with easy installation and maintenance, high reliability and excellent expansibility; and the system costs little.

Arm driving apparatus

Abstract: An arm driving apparatus for an articulated robot, which is equipped with a worm wheel adapted to move the arm, a worm gear for driving the worm wheel, and a drive motor for driving the worm gear.

Articulated head for an industrial robot and a robot equipped with a head of this type

Abstract: An articulated head for an industrial robot has three axes of rotation and three frames, the movements of rotation of which are controlled by only two driving elements carried by the fixed portion of the wrist which is connected to the robot arm.