Topic
Revolute joint
About: Revolute joint is a research topic. Over the lifetime, 3835 publications have been published within this topic receiving 52995 citations.
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01 Mar 1984
TL;DR: This paper describes an algorithm transforming cartesian obstacles into obstacles in the space of the first three joints of a manipulator with six revolute joints, and giving a hierarchical description of the free space by mean of an octree.
Abstract: An automatic system for planning safe trajectories for a computer controlled manipulator among obstacles is a key component of robot assembly operations. This paper describes an algorithm transforming cartesian obstacles into obstacles in the space of the first three joints of a manipulator with six revolute joints (e.g. a ACMA-CRIBIER V80), and giving a hierarchical description of the free space by mean of an octree. Such a description is very useful in testing for collision between the arm of the manipulator end obstacles since it is represented by a point in this space.
235 citations
TL;DR: In this article, the authors describe efficient procedures for performing transformations from the position and velocity of the end effector to the corresponding joint angles and velocities, and vice versa, for a six-degree-of-freedom robot manipulator having three revolute joint axes intersecting at the wrist.
Abstract: This paper describes efficient procedures for performing transformations from the position and velocity of the end effector to the corresponding joint angles and velocities, and vice versa, for a six-degree-of-freedom robot manipulator having three revolute joint axes intersecting at the wrist. Some attention is paid to the problems that arise when the manipulator's position is near a deadpoint.
231 citations
TL;DR: The error model based on the POE formula can be a complete, minimal, and continuous kinematic model for serial-robot calibration.
Abstract: This paper presents a generic error model, which is based on the product of exponentials (POEs) formula, for serial-robot calibration. The identifiability of parameters in this error model was analyzed. The analysis shows the following: 1) Errors in all joint twists are identifiable. 2) The joint zero-position errors and the initial transformation errors cannot be identified when they are involved in the same error model. With either or neither of them, three practicable error models were obtained. The joint zero-position errors are identifiable when the following condition is satisfied: Coordinates of joint twists are linearly independent. 3) The maximum number of identifiable parameters is 6n + 6 for an n-degree-of-freedom (DOF) generic serial robot. Simulation results show the following: 1) The maximum number of identifiable parameters is 6r + 3t + 6, where r is the number of revolute joints, and t is the number of prismatic joints. 2) All the kinematic parameters of the selective compliant assembly robot arm (SCARA) robot and programmable universal machine for assembly (PUMA) 560 robots were identified by using the three error models, respectively. The error model based on the POE formula can be a complete, minimal, and continuous kinematic model for serial-robot calibration.
230 citations
TL;DR: In this article, an iterative method for the solution of matrix equations required in displacement analysis of simple-closed linkages consisting of revolute and prismatic pairs (and their combinations) was developed in a manner intended for digital computer operation.
Abstract: An algebraic method for the displacement analysis of linkages has been the subject of earlier publications [1, 2]. This method, based on the use of a symbolic notation, allows the application of matrix algebra to the study of displacements in linkages, and permits formulation of all the kinematic relations of a linkage in terms of matrix equations. Based on this earlier work, the present paper develops an iterative method for the solution of the matrix equations required in displacement analysis. A complete solution is given for simple-closed linkages consisting of revolute and prismatic pairs (and their combinations). A brief indication of how higher pairs and multiple-closed chains may be handled is also given. Particularly useful in spatial problems, since it does not depend on visualization, this approach is developed in a manner intended for digital-computer operation.
226 citations
Patent•
17 Jan 1996
TL;DR: In this paper, a closed-loop, five member gimbal mechanism (46, 58, 48a, 48b, 50a and 50b) provides two revolute degrees of freedom to an object about two axies of rotation.
Abstract: A method and apparatus (25') for providing high bandwidth and low noise mechanical input and output for computer systems. A closed-loop, five member gimbal mechanism (46, 58, 48a, 48b, 50a and 50b) provides two revolute degrees of freedom to an object about two axies of rotation. A linear axis member (40) can be coupled to the gimbal mechanism at the axes' intersection and be translated along a third axis to provide a third degree of freedom. Transducers (42) associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the objet (44) and a digital processing system (14). Capstan drive mechanisms (58) transmit forces between the transducers (42) and the object (44).
224 citations