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, an exoskeleton master robot and a human-like slave robot with two arms are designed and built to be used for motion-following tasks, where the master robot is required to follow after the motion of the slave robot.
Abstract: This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.
31 citations
01 Mar 1985
TL;DR: The detailed design of a system in which the controller of a robot takes advantage of large knowledge bases to ensure proper execution of the robot task is presented.
Abstract: We would like robots to recognize and handle situations that do not conform with normal operating conditions. We want to be able to do this without having to consider explicitly errors caused by missing or defective parts, or by malfunctioning. To this end we present the detailed design of a system in which the controller of the robot takes advantage of large knowledge bases to ensure proper execution of the robot task. Real time considerations played a large role in our design.
31 citations
01 Nov 2009
TL;DR: The robot hand is designed to protect the small driving system from a large external force and is small enough to be installed in the joint driving mechanism and adaptable enough to deal with various load.
Abstract: A multi-fingered universal robot hand has been developed in order to construct the platform of humanoid hand study. We also have developed a small and five-fingered robot hand. The robot hand is designed to protect the small driving system from a large external force. This protection mechanism is small enough to be installed in the joint driving mechanism and adaptable enough to deal with various load. This paper describes basic and unique specifications of the robot hand, and the effectiveness is confirmed by fundamental experiments.
31 citations
TL;DR: In this paper, the analysis and achievement of human-like behavior by robot arms (manipulators) is concerned with the resolution of the inverse kinematics problem of redundant robots, the separation of the end-effector's motion into two components, i.e., the smooth (low accelerated) component and the fast (accelerated) component, and the fatigue of the motors of the robot joints.
Abstract: This two-part paper is concerned with the analysis and achievement of human-like behavior by robot arms (manipulators). The analysis involves three issues: (i) the resolution of the inverse kinematics problem of redundant robots, (ii) the separation of the end-effector's motion into two components, i.e. the smooth (low accelerated) component and the fast (accelerated) component, and (iii) the fatigue of the motors (actuators) of the robot joints. In the absence of the fatigue, the human-like performance is achieved by using the partitioning of the robot joints into “smooth” and “accelerated” ones (called distributed positioning—DP). The actuator fatigue is represented by the so-called “virtual fatigue” (VF) concept. When fatigue starts, the human-like performance is achieved by engaging more the joints (motors) that are less fatigued, as does the human arm. Part I of the paper provides the theoretical issues of the above approach, while Part II applies it to the handwriting task and provides extensive simulation results that support the theoretical expectations.
31 citations
18 Sep 2001
TL;DR: This paper presents how an untrained user can intuitively interact with the new DLR light-weight robot just by touching the arm, and how this feature can be used for programming the robot.
Abstract: The mobile service robots will share their workspaces e.g. offices, hospitals or households with humans. Thus a direct contact between man and machine is inevitable. Robots equipped with appropriate sensors can sense the touch. In this paper we present how an untrained user can intuitively interact with the new DLR light-weight robot just by touching the arm. The robot with 7 dof's will react by an evasiveness motion of the touched links while retaining the orientation of the TCP. This feature can also be used for programming the robot. Programming by "touch" is very intuitive as you take the robot at hand and demonstrate the movements.
31 citations