Articulated robot

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

Tracking Error Constrained Super-twisting Sliding Mode Control for Robotic Systems

Abstract: In this paper, we address a robust super-twisting sliding mode control that ensures finite-time convergence and the prescribed tracking error constrained performance of a robotic system. A tracking error-transformed variable based on a super-twisting sliding mode surface is constructed for achieving the transient and steady-state time performances of the position of the robotic manipulator, and satisfying the properties of an ordinary sliding mode control. The proposed controller performs the constrained positioning of the robot manipulator without using a complex modeling process or intelligent nonlinear approximations for unknown robot dynamics and uncertainty. The problem of difficult separation of an unknown nonlinear function into known and unknown parts in the conventional variable super-twisting algorithm (STA) is overcome by designing a convenient adaptive law for the unknown function. Thus, the proposed control approach provides both finite-time convergence and constrained tracking error boundedness within a prescribed position range of the robotic manipulator. The effectiveness of the proposed robust control scheme is demonstrated through its experimental application to an industrial articulated robot manipulator and a XY robotic manipulator.

Topology Synthesis of a 1-Translational and 3-Rotational Parallel Manipulator With an Articulated Traveling Plate.

Abstract: Driven by the increasing demands of the aircraft assemblage for the pose-adjustment equipment in the large-scale component docking, this paper carries out the topology synthesis of a 1-translational and 3-rotational (1T3R) four degrees of freedom (DoF) parallel manipulator with an articulated traveling plate. First, the articulated traveling plate is defined as that includes more than one rigid body articulated by one or more kinematic joints. Then, the relationship among the DoFs of the parallel manipulator and the articulated traveling plate and the number of the in-parts are proposed. According to the agreement of the arrangement way between the open-loop limbs and the in-parts, the topology synthesis procedure of the 1T3R 4-DoF parallel manipulator with an articulated traveling plate is proposed. Finally, their topology structures are obtained by discussing those of four types in terms of 1D-H, 1D-V type with opposite layout and 1D-H, 1D-V type with adjacent layout, in which the topology structures exist only for 1D-H and 1D-V type with opposite layout.

Biologically Inspired Robot Manipulator for New Applications in Automation Engineering

Abstract: The fast growing interest in flexible, versatile and mobile robotic manipulators demands for robots with inherent high passive safety suited for direct human-robot interaction. To gain access to these new applications in the field of automation engineering where close vicinity and direct cooperating with humans are required, the “BioRob” project demonstrates the applicability of a new biologically inspired, lightweight and elastic “bionic” robot manipulator specifically designed for safe human-robot interaction. This paper presents the mechanical design and controller structure used for the new demonstrators with up to four compliant joints. The advantages of the design and potential application areas for the manipulator are discussed. 1. Introduction Traditional industrial manipulators demonstrate outstanding specifications regarding precision and speed movement. But this performance can only be achieved by avoiding thoroughly any elasticity in the kinematic chain which would produce uncontrollable oscillations during motions. Adequate stiffness requires massive construction of the robot links, joints and gears, resulting in a poor ratio of payload to deadweight. Articulated robots of