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Revolute joint

About: Revolute joint is a(n) research topic. Over the lifetime, 3835 publication(s) have been published within this topic receiving 52995 citation(s).


Papers
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Proceedings ArticleDOI
05 Aug 1995
TL;DR: It is proposed that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea.
Abstract: It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy storage. As a trade-off, reducing interface stiffness also lowers zero motion force bandwidth. In this paper, the authors propose that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea. The authors use the term elasticity instead of compliance to indicate the presence of a passive mechanical spring in the actuator. After a discussion of the trade-offs inherent in series elastic actuators, the authors present a control system for their use under general force or impedance control. The authors conclude with test results from a revolute series-elastic actuator meant for the arms of the MIT humanoid robot Cog and for a small planetary rover.

2,114 citations

Journal ArticleDOI
01 Jun 1987
TL;DR: A simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators and an implementation of the algorithm for manipulators made up of revolute joints is described.
Abstract: A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1- dimensional slices, recursively built up from one-dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles.

571 citations

Journal ArticleDOI
Abstract: This paper describes a new method for calculating the acceleration of a robot in response to given actuator forces. The method is applicable to open-loop kinematic chains containing revolute and prismatic joints. The algorithm is based on recursive formulas involving quantities called articulated-body inertias, which represent the inertia properties of collections of rigid bodies connected together by joints allowing constrained relative motion between the bodies. A new, matrix-based notation is introduced to represent articulated-body inertias and other spatial quantities. This notation is used to develop the algorithm, and results in a compact representation of the equations. The new algorithm has a computational requirement that varies linearly with the number of joints, and its efficiency is compared with other published algorithms.

567 citations

Book
28 Nov 2001
Abstract: From the Publisher: This book deals with the application of modern control theory to some important underactuated mechanical systems. It presents modelling and control of the following systems:||- the inverted pendulum||- a convey-crane system||- the pendubot system||- the Furuta pendulum||- the inertia wheel pendulum||- the planar flexible-joint robot||- the planar manipulator with two prismatic and one revolute joints||- the ball & beam system||- the hovercraft model||- the planar vertical and take-off landing (PVTOL) aircraft||- the helicopter model on a platform||- the helicopter model||In every case the model is obtained in detail using either the Euler-Lagrange formulation or the Newton's second law. We develop control algorithms for every particular system using techniques such as passivity, energy-based Lyapunov functions, forwarding, backstepping or feedback linearization techniques.||This book will be of great value for PhD students and researchers in the areas of non-linear control systems.

545 citations

Journal ArticleDOI
Abstract: The point-to-point control of manipulators having elastic joints is considered. It is shown that a simple PD (proportional plus derivative) controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position. A robustness analysis is also given with respect to uncertainties on the robot parameters. The results of numerical simulation tests of a manipulator with three revolute elastic joints are presented. >

502 citations

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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20228
2021136
2020143
2019194
2018208
2017219