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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21 Oct 2013
TL;DR: In this article, an Unscented Kalman Filter (UKF) is used to fuse the robot's sensor measurements to estimate the angle of each joint of the robot.
Abstract: We present a framework for robust estimation of the configuration of an articulated robot using a large number of redundant proprioceptive sensors (encoders, gyros, accelerometers) distributed throughout the robot. Our method uses an Unscented Kalman Filter (UKF) to fuse the robot’s sensor measurements. The filter estimates the angle of each joint of the robot, enabling the accurate estimation of the robot’s kinematics even if not all modules report sensor readings. Additionally, a novel outlier detection method allows the the filter to be robust to corrupted accelerometer and gyro data.
14 citations
14 May 2012
TL;DR: This model captures the dynamics of camera and range-finder data, it can be used for long-term predictions, and that it can capture nonlinear phenomena such as a limited field of view.
Abstract: The problem of bootstrapping consists in designing agents that can learn from scratch the model of their sensorimotor cascade (the series of robot actuators, the external world, and the robot sensors) and use it to achieve useful tasks. In principle, we would want to design agents that can work for any robot dynamics and any robot sensor(s). One of the difficulties of this problem is the fact that the observations are very high dimensional, the dynamics is nonlinear, and there is a wide range of “representation nuisances” to which we would want the agent to be robust. In this paper, we model the dynamics of sensorimotor cascades using diffeomorphisms of the sensel space. We show that this model captures the dynamics of camera and range-finder data, that it can be used for long-term predictions, and that it can capture nonlinear phenomena such as a limited field of view. Moreover, by analyzing the learned diffeomorphisms it is possible to recover the “linear structure” of the dynamics independently of the commands representation.
14 citations
TL;DR: The commonly used trajectory planning algorithm of articulated robot, such as, polynomial interpolation algorithm in joint space andlinear interpolation in Cartesian space and linear interpolation In joint space are introduced.
Abstract: Articulated robot is now widely employed in manufacture, such as, welding, painting, and assembly, with high precision and endurance. It plays an important role in scientific and technological innovation. Trajectory planning of articulated robot is one of the key researches in industrial robot. The commonly used trajectory planning algorithm of articulated robot, such as, polynomial interpolation algorithm in joint space and linear interpolation in Cartesian space are introduced. Researches on articulated robot trajectory planning are surveyed. Meanwhile these articulated robot trajectory planning algorithms are analysed. Some further researches and developing trend of articulated robot trajectory planning are indicated.
14 citations
TL;DR: In this paper, an adaptive mobile mechanism is proposed for pipe inspection and a robot based on this mechanism is designed and developed for the purpose of pipe inspection, which has the adaptability to the change of pipe diameters, while number of the driving actuator does not increase.
Abstract: For the purpose of pipe inspection,an adaptive mobile mechanism is proposed and a robot based on this mechanism is designed and developed.Due to the unique transmission mechanism the robot has the adaptability to the change of pipe diameters, while number of the driving actuator does not increase.When the robot encounters a step,the adaptive mobile mechanism of the robot will change its working mode to surmount the obstacle.Compared to classical screw-driven robots,this robot does not employ the link-type configuration,but only uses one actuator to solve the low capability of surmounting obstacle.The observed rotation problem of the supporting parts is solved by the kinematical analysis of the robot.Basic experiments are performed to testify the adaptability and efficiency of the robot.
14 citations
13 Oct 2010
TL;DR: In this article, a flexible squirm pipe robot with magnetic wheels for inspecting the inner casing of pipes with complex shaped structures is described, and the analysis and simulation prove the robot effective.
Abstract: This paper describes a flexible squirm pipe robot with magnetic wheels for inspecting the inner casing of pipes with complex shaped structures. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing its supporting mechanism automatically. All the functions of this robot are realized only by one motor, so the robot has simple structure and high utilization of drving. This paper also presents the analyses of the motion and move condition in the straight pipe. The analysis and simulation prove the robot effective.
14 citations