Articulated robot

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

Gaze contingent articulated robot control for robot assisted minimally invasive surgery

Abstract: This paper introduces a novel technique for controlling an articulated robotic device through the eyes of the surgeon during minimally invasive surgery. The system consists of a binocular eye-tracking unit and a robotic instrument featuring a long, rigid shaft with an articulated distal tip for minimally invasive interventions. They have been integrated into a daVinci surgical robot to provide a seamless and non-invasive localization of eye fixations of the surgeon. By using a gaze contingent framework, the surgeonpsilas fixations in 3D are converted into commands that direct the robotic probe to the desired location. Experimental results illustrate the ability of the system to perform real-time gaze contingent robot control and opens up a new avenue for improving current human-robot interfaces.

Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite

Abstract: The discussion in this paper is intended as an introduction to several topics treated in various forms or extensions in the other papers in this issue. Many applications of robots in space require the robot to manipulate a load mass that is not negligible compared to the satellite on which the robot is mounted. In such cases, the robot motion disturbs the position and attitude of the satellite, and this in turn disturbs the robot end-effector position. This implies that the robot joint angles that would normally be commanded to produce a prescribed robot end-effector position and orientation will result in missing the target. In this paper an overview is given of certain engineering problems arising from this phenomenon. The robot end-effector positioning problem is discussed for the two cases of the satellite attitude control system either off or on, and computation of the robot motion disturbances to the satellite is discussed. Shuttle Remote Manipulator System based examples are given.

Torque-controlled Light Weight Arms and Articulated Hands - Do We Reach Technological Limits Now?.

Abstract: In this paper we briefly address DLR’s (German Aerospace Center) background in space robotics by hand of corresponding milestone projects including systems on the International Space Station. We then discuss the key technologies needed for the development of an artificial “robonaut” generation with mechatronic ultra-lightweight arms and multifingered hands. The third arm generation is nearly finished now, approaching the limits of what is technologically achievable today with respect to light weight and power losses. In a similar way DLR’s second generation of artificial four-fingered hands was a big step towards higher reliability, manipulability and overall performance.

A new six-parallel-legged walking robot for drilling holes on the fuselage

Abstract: In this paper, a new kind of six-parallel-legged robot is presented. It is designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism with three chains...

Mobile extraction-assist robot

Abstract: An all-terrain mobile robot comprising a mobile robotic platform, having either wheels or tank-treaded-like legs capable of navigating over rough terrain, wherein the robotic platform utilizes dynamic balancing behavior; a hydraulic powered anthropomorphic torso and articulated arms, wherein the hydraulic system possesses a pressure sensor for enabling the anthropomorphic torso and articulated arms to lift a payload using acute and delicate movements that reduce the chance of causing structural harm to the payload.