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 paper, a tracking control method for a three-wheeled omnidirectional manipulator system (OMMS) with disturbance and friction is proposed. And the system stability is proven using Lyapunov stability theory.
Abstract: This paper proposes a tracking control method for a three-wheeled omnidirectional manipulator system (OMMS) with disturbance and friction. The OMMS is separated into two subsystems, a three-wheeled omnidirectional mobile platform (OMP) and a selective compliant articulated robot for assembly (SCARA) type of manipulator. Therefore, two controllers are designed to control the OMP and the manipulator system. Firstly, based on a kinematic modeling of the manipulator, a kinematic controller (KC), combined with an integral sliding mode controller (ISMC), is designed for the end-effector of the manipulator to track a desired trajectory with the desired angular velocity vector of links. Secondly, a differential sliding mode controller (DSMC) based on a dynamic modeling of the OMP with force external disturbances is proposed to obtain control inputs moving the OMP so that the manipulator tracks the desired posture without singularity. The system stability is proven using Lyapunov stability theory. The simulation and experimental results are presented to illustrate the effectiveness of the proposed controllers in the presence of disturbance and friction.
41 citations
TL;DR: A novel three degrees of freedom (DoFs), that are two degrees of translational freedom and one degree of rotational freedom, parallel robot is proposed, which has wide application in the fields of industrial robots, simulators, microrobots and parallel machine tools.
41 citations
TL;DR: The experimental system, which has range sensors and the function generating environmental map using simultaneous localization and mapping, was developed with decreasing calculation cost, and experiments were performed to verify the effectiveness of the proposed system in unknown environments.
Abstract: This brief presents a control system for a snake robot based on range sensor data that semiautonomously aids the robot in avoiding collisions with obstacles. In the proposed system, an operator indicates the desired velocity of the first link of the robot using a joystick, and the joint input which accomplishes both the desired velocity of the first link and collision avoidance between subsequent links and obstacles is automatically calculated by the controller, which selects the links needed to be grounded and exploits redundancy. The controller uses real-time data from range sensors for obstacle positions. The experimental system, which has range sensors and the function generating environmental map using simultaneous localization and mapping, was developed with decreasing calculation cost, and experiments were performed to verify the effectiveness of the proposed system in unknown environments.
41 citations
20 Apr 1997
TL;DR: A robot assembly system for the construction industry based on an articulated robot placed over a mobile platform that main task is the assembly of blocks for the erection of walls in industrial buildings.
Abstract: This paper presents a robot assembly system for the construction industry based on an articulated robot placed over a mobile platform. The assembly process and the robot has been developed under the computer integrated construction concept. Its main task is the assembly of blocks for the erection of walls in industrial buildings.
41 citations
TL;DR: The author developed the Experimental Free-FlOating RoboT Satellite (EFFORTS-I and -II) simulators, which enable the author to examine two-dimensional pseudo-micro gravity motion dynamics using air lift systems.
Abstract: This paper presents an experimental study on the dynamics modeling and control of a free-floating space robot. In order to experimentally study the physical behavior of floating linkage dynamics and validate the practical availability of control schemes, the author developed the Experimental Free-FlOating RoboT Satellite (EFFORTS-I and -II) simulators, which enable us to examine two-dimensional pseudo-micro gravity motion dynamics using air lift systems. The robot models, comprising a satellite base body and articulated manipulator arm(s), make horizontal motions without mechanical disturbances or external forces. Theoretical concepts and corresponding experimental results are illustrated for the following topics that are relevant to the future of space robotics research and possible practical missions: (1) hardware design and development of the EFFORTS simulators, (2) dynamics modeling and basic control concepts for space free-floating manipulators, (3) target chasing and capturing control experiments, a...
41 citations