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, the authors deal with the strain measurement caused by industrial robots and discuss design criterions of robot collaboration with a human operator in a cell production assembly system, where several basic strains are experimentally measured: distance from a swinging robot to an operator, speed at robot's movement towards an operator and so on.
172 citations
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TL;DR: In this paper, a general method was developed for determining special configurations of all single-loop mechanisms, and a simple result which has important practical application is deduced; when all the screws representing the instantaneous motion of a robot arm are reciprocal to a common screw or screw, then the end effector cannot have free instantaneous movement parallel to the axis or axes of the reciprocal screws.
171 citations
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13 Mar 1984TL;DR: A computer control structure has been designed and implemented to enable two robot arms to function in a coordinated manner and one algorithm has been derived and implemented but not tested for a closed-loop configuration.
Abstract: A computer control structure has been designed and implemented to enable two robot arms to function in a coordinated manner. One algorithm has been derived and implemented but not tested for a closed-loop configuration. Errors for the open-loop operation are given in the report.
169 citations
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16 Jun 1976
TL;DR: In this article, the authors present a method and system for the automatic orientation and control of a robot in a space or on a surface to be worked by the robot, for example an area to be vacuum-cleaned or a lawn to be mowed.
Abstract: The present method and system for the automatic orientation and control of a robot in a space or on a surface to be worked by the robot, for example an area to be vacuum-cleaned or a lawn to be mowed, employs a plurality of distance measuring devices, which continuously and repeatedly measure distances from the robot to points or small surface areas defining the surface to be worked. Electro-optical distance measuring devices are effective in a far range. Electro-acoustical distance measuring devices are effective in a close range. Electro and/or mechanical means are effective in a contact range. The distance measuring devices continuously ascertain scalar values which by means of data processing are transformed into digital control signals for the drive means and for the tools carried by the robot, whereby the robot plans its own driving and working strategies as the result of said continuous distance measurements. The drive means include wheels which constitute simultaneously digitally controllable drive motors for the robot. The wheels are tiltable about vertical axes for steering the robot.
167 citations
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TL;DR: A task-level robot system named Handey, which is under development, is described, and heuristic motion planning in Handey is discussed, and approximate approaches to the problem are examined.
Abstract: A task-level robot system named Handey, which is under development, is described. The current system is limited to pick-and-place operations, and it has successfully carried out dozens of such operations involving a variety of parts in relatively complex environments. The pick-and-place problem is described, and approximate approaches to the problem are examined. Heuristic motion planning in Handey is then discussed. >
163 citations