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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20 Jul 2003
TL;DR: In this article, a passive gravity compensation mechanism named "mechanical gravity canceller" was proposed to compensate for the effect of gravity on articulated robot manipulators from the aspects of kinematics and dynamics.
Abstract: In this paper, we propose a passive gravity compensation mechanism named "mechanical gravity canceller". The effectiveness of the MGC mechanism is evaluated by analyzing several articulated robot manipulators from the aspects of kinematics and dynamics.
101 citations
24 Apr 1988
TL;DR: A precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed and to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot.
Abstract: Autonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed. >
101 citations
TL;DR: Simulations of the proposed planning strategy for improving the safety of human-robot interaction by minimizing a danger criterion during the planning stage indicate that a criterion based on scaled mutually dependent factors generates safe, feasible paths for interaction.
Abstract: This paper presents a strategy for improving the safety of human-robot interaction by minimizing a danger criterion during the planning stage. This strategy is one part of the overall methodology for safe planning and control in human-robot interaction. The focus application is a hand-off task between an articulated robot and an inexpert human user. Two formulations of the danger criterion are proposed: a criterion assuming independent safety-related factors, and a criterion assuming mutually dependent factors. Simulations of the proposed planning strategy are presented for both 2D and 3D robots. The results indicate that a criterion based on scaled mutually dependent factors such as the robot inertia and the human robot distance generates safe, feasible paths for interaction. © 2005 Wiley Periodicals, Inc.
100 citations
Patent•
24 Feb 1993
TL;DR: In this article, a rotary joint for robots is presented, which integrates a joint bearing with a power transmission, such as a planetary type speed reducer, and provides a large central hole for passing electric and service lines therethrough.
Abstract: A motorized rotary joint for robots integrates a joint bearing with a power transmission, such as a planetary type speed reducer, and provides a large central hole for passing electric and service lines therethrough. The rotary joint includes a built-in rotor and stator arrangement within the same joint housing structure, thus allowing the electric motor to share the same bearings and housing structure with the speed reducer. Preferably, the rotor also carries planets of the reducer and the stator is either integral or coupled to a housing of the reducer. The rotary joint also accommodates an encoder, a circuit board having electronic components thereon and a built-in brake to provide a totally integrated, intelligent rotary joint. A method for constructing a modular robot using the rotary joint is also provided, wherein several such rotary joints are coupled to simple structural elements by means of bolted interfaces to construct a multi-joint robot of an articulated structure. Such a modular robot has low cost, is easy to maintain and service, and can be readily and speedily constructed and reconfigured from integrated modular components.
100 citations
04 Sep 1989
TL;DR: The position estimation system for an autonomous robot vehicle called Blanche, which is designed for use in structured office or factory environments, consists of odometry supplemented with a fast, robust matching algorithm which determines the congruence between the range data and a 2D map of its environment.
Abstract: This paper describes the position estimation system for an autonomous robot vehicle called Blanche, which is designed for use in structured office or factory environments. Blanche is intended to be low cost, depending on only two sensors, an optical rangefinder and odometry. Briefly, the position estimation system consists of odometry supplemented with a fast, robust matching algorithm which determines the congruence between the range data and a 2D map of its environment. This is used to correct any errors existing in the odometry estimate. The integration of odometry with fast, robust matching allows for accurate estimates of the robot’s position and accurate estimates of the robot’s position allow for fast, robust matching. That is, the system is self sustaining.
99 citations