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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TL;DR: In this article, the authors employ an assumed modes method to model the flexible motion of the last link of a spherical coordinate robot arm. But they do not consider the relationship between the arm structural flexibility and a linear controller for the rigid body motion.
Abstract: High performance requirements in robotics have led to the consideration of struc tural flexibilty in robot arms. This paper employs an assumed modes method to model the flexible motion of the last link of a spherical coordinate robot arm. The model, which includes the non backdrivability of the leadscrews, is used to in vestigate relationships between the arm structural flexibility and a linear controller for the rigid body motion. This simple controller is used to simulate the controllers currently used in industrial robots. The simulation results illustrate the differences between leadscrew driven and unconstrained axes of the robot; they indicate the trade-off between speed and accuracy; and show potential instability mechanisms due to the interaction between the controller and the robot structural flexibility.
55 citations
TL;DR: The robot arm was designed with four degrees of freedom and talented to accomplish accurately simple tasks, which will be integrated into a mobile platform that serves as an assistant for industrial workforce.
Abstract: The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees of freedom and talented to accomplish accurately simple tasks, such as light material handling, which will be integrated into a mobile platform that serves as an assistant for industrial workforce. The robot arm is equipped with several servo motors which do links between arms and perform arm movements. The servo motors include encoder so that no controller was implemented. To control the robot we used Labview, which performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the servo motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.
55 citations
TL;DR: The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M and some numerical and simulation results of the developed experimental model with its system control are also described.
Abstract: During the last years, there has been an increase in research in the field of medical robots. This trend motivated the development of a new robotics field called ''robotic-assisted minimally invasive surgery''. The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M. The robot consists of two subsystems: a surgical robotic arm, PARASURG 5M with five motors, and an active robotized surgical instrument PARASIM with four motors. The methodology for the robot kinematics is presented and the algorithm for robot workspace generation is described. PARASURG-9M inverse dynamic simulation is performed using MSC Adams and finally some numerical and simulation results of the developed experimental model with its system control are also described.
55 citations
TL;DR: An approach to programming and controlling robot manipulators which facilitates the use of sensory information, which can involve position, orientation, force, and torque information from the robot itself, or data from external sensors.
Abstract: This paper describes an approach to programming and controlling robot manipulators which facilitates the use of sensory information. Robot actions are specified by declaring software servo processes which control the robot's various degrees of freedom. These servo processes can involve position, orientation, force, and torque information from the robot itself, or data from external sensors. Robot tasks are programmed by dynamically modifying the servo processes or by changing set points to these processes. Condition monitors, which have access to program and sensory information, detect the completion of program steps.
55 citations
TL;DR: In this article, a low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices, is presented, which consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints.
Abstract: This paper presents the design, analysis and fabrication of a novel low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices. The robot consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints. A mathematical model is established between the input voltage to the polymer actuators and the robot's end effector position. The robot has two degrees-of-freedom, making it suitable for handling planar micromanipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner for increasing micromanipulation dexterity. Finally, the experimental results demonstrate two main motion modes of the robot.
54 citations