Articulated robot

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

Intelligent Selective Compliance Articulated Robot Arm robot with object recognition in a multi-agent manufacturing system:

Abstract: Nowadays, industry tends to adopt the smart factory concept in their production. Technology intelligence is applied to use all the resources efficiently. Robots and vision system are masters in thi...

Robot docking based on omnidirectional vision and reinforcement learning

Abstract: We present a system for visual robotic docking using an omnidirectional camera coupled with the actor critic reinforcement learning algorithm. The system enables a PeopleBot robot to locate and approach a table so that it can pick an object from it using the pan-tilt camera mounted on the robot. We use a staged approach to solve this problem as there are distinct subtasks and different sensors used. Starting with random wandering of the robot until the table is located via a landmark, then a network trained via reinforcement allows the robot to turn to and approach the table. Once at the table the robot is to pick the object from it. We argue that our approach has a lot of potential allowing the learning of robot control for navigation and remove the need for internal maps of the environment. This is achieved by allowing the robot to learn couplings between motor actions and the position of a landmark.

Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg

Abstract: The mass-spring system-like behavior is a powerful analysis tool to simplify human running/locomotion and is also known as the Spring Loaded Inverted Pendulum (SLIP) model. Beyond being just an analysis tool, the SLIP model is utilized as a template for implementing human-like locomotion by using the articulated robot. Since the dynamics of the articulated robot exhibits complicated behavior when projected into the operational space of the SLIP template, various considerations are required, from the robot's mechanical design to its control and analysis. Hence, the required technologies are the realization of pure mass-spring behavior during the interaction with the ground and the robust position control capability in the operational space of the robot. This paper develops a robot leg driven by the Series Elastic Actuator (SEA), which is a suitable actuator system for interacting with the environment, such as the ground. A robust hybrid control method is developed for the SEA-driven robot leg to achieve the required technologies. Furthermore, the developed robot leg has biarticular coordination, which is a human-inspired design that can effectively transmit the actuator torque to the operational space. This paper also employs Rotating Workspace (RW), which specializes in the control of the biarticulated robots. Various experiments are conducted to verify the performance of the developed robot leg with the control methodology.

Global visual servoing of miniature mobile robot inside a micro-assembly station

Abstract: This paper focuses on designing the 2D global visual servoing system of the miniature mobile robot. The global vision sensor supervises the robot's workspace to detect the position and orientation of the robot, and then navigates the robot's end-effector into view field of the microscope to accomplish MEMS (micro electric mechanical system) parts assembly. To meet requirements of real-time control and high precision tracking, three LEDs forming a non-isosceles-rightangled triangle are mounted on the top of the robot platform. Visual servoing is realized with dynamic look and move mode, and the controller is designed in the image space. With the global visual navigation, the robot can be controlled with accuracy about 0.5-1 mm. But due to the lack of interior sensor for the manipulator, when the macro motion is completed, the end-effector is not guaranteed inside view field of microscope. The strategy for end-effector searching, which based on motion inspection, is designed to solve the problem. Experiment shows that the end-effector can be located in the view of microscope successfully. It is the essential precondition for our robot accomplishing micro operation task.

Development of Micro Inspection Robot for Small Piping

Abstract: A micro inspection robot for 1-incn pipes was developed. The robot can undertake visual inspections inside piping and collect small objects. It is 110 [mm] long, has an external diameter of 23 [mm], and weighs 16 [g] . The robot is equipped with a high-quality micro CCD camera and a two-digit hand for manipulating small objects in pipes. It is propelled by a micro electromagnetic motor. The wheels, which are driven by planetary reduction gears and worm gears, press against the pipe wall and enable the robot to travel inside even in vertical pipes and curved pipes. It travels at a speed of about 6 [mm/s] and the pulling force exerted is approximately 1 [N] . In this report the robot system, the various micro technologies used in the development of the robot, including the micro actuator, micro reduction gears, micro robotics hands, and micro CCD camera, and the specifications of the robot are presented.