Relevant bibliographies by topics / Articulated robot arms

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Articulated robot arms'

Author: Grafiati
Published: 19 February 2023

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Journal articles on the topic "Articulated robot arms"

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Lee, Jihong, and Zeungnam Bien. "Collision-free trajectory control for multiple robots based on neural optimization network." Robotica 8, no. 3 (July 1990): 185–94. http://dx.doi.org/10.1017/s0263574700000047.

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SUMMARYA collision-free trajectory control for multiple robots is proposed. The proposed method is based on the concept of neural optimization network. The positions or configurations of robots are taken as the variables of the neural circuit, and the energy of network is determined by combining various functions, in which one function is to make each robot approach to its goal and another helps each robot from colliding with other robots or obstacles. Also a differential equation of the circuit which tends to minimize the energy is derived. A new method for describing collision between articulated arms is presented and some heuristic method to improve the feasibility and the safety of the trajectory is proposed. Also illustrative simulation results for mobile robots and articulated robot arms are presented.
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NAKAMURA, Yoshihiko, and Hideo HANAFUSA. "Optimal Redundancy Control of Articulated Robot Arms." Transactions of the Society of Instrument and Control Engineers 21, no. 5 (1985): 501–7. http://dx.doi.org/10.9746/sicetr1965.21.501.

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Li, S. C., J. X. Qiu, and J. Y. Zhu. "The Counterbalance Design of the Articulated Robot Arms." CIRP Annals 39, no. 1 (1990): 455–58. http://dx.doi.org/10.1016/s0007-8506(07)61095-6.

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GOTO, Satoru, Tatsumi USUI, Masatoshi NAKAMURA, and Nobuhiro KYURA. "Forcefree Control for Articulated Robot Arms Using Torque Observer." Journal of the Japan Society for Precision Engineering 73, no. 11 (2007): 1233–37. http://dx.doi.org/10.2493/jjspe.73.1233.

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Rajpar, A. H., Ahmad E. Eladwi, Imran Ali, and Mohamed Bashir Ali Bashir. "Reconfigurable Articulated Robot Using Android Mobile Device." Journal of Robotics 2021 (February 2, 2021): 1–8. http://dx.doi.org/10.1155/2021/6695198.

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This paper focuses on the design and development of a reconfigurable three-degree-of-freedom articulated robot for conducting pick-and-place tasks. To implement the system, an Android platform for the manual control of an articulated robot using wireless Bluetooth technology was developed. This application allows the user to manually reconfigure the robot following the requirements of the integrated system via a user-friendly display. The articulated robot comprises four motors, three of which are used for positioning and orientation and finally used to carry out the pick-and-place task. An Arduino Un R3 board is used to control the movement of the links via a pulse width modulation method. We introduce a set of conveniently composed kinematic and dynamic mathematical models for positioning the robot’s arms and, in our results and discussion section, calculate and report the torque required to move each joint.
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Goto, Satoru, Tatsumi Usui, Nobuhiro Kyura, and Masatoshi Nakamura. "Forcefree control with independent compensation for industrial articulated robot arms." Control Engineering Practice 15, no. 6 (June 2007): 627–38. http://dx.doi.org/10.1016/j.conengprac.2006.11.002.

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Rojas, J., and R. A. Peters II. "Sensory Integration with Articulated Motion on a Humanoid Robot." Applied Bionics and Biomechanics 2, no. 3-4 (2005): 171–78. http://dx.doi.org/10.1155/2005/295816.

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This paper describes the integration of articulated motion with auditory and visual sensory information that enables a humanoid robot to achieve certain reflex actions that mimic those of people. Reflexes such as reach-and-grasp behavior enables the robot to learn, through experience, its own state and that of the world. A humanoid robot with binaural audio input, stereo vision, and pneumatic arms and hands exhibited tightly coupled sensory-motor behaviors in four different demonstrations. The complexity of successive demonstrations was increased to show that the reflexive sensory-motor behaviors combine to perform increasingly complex tasks. The humanoid robot executed these tasks effectively and established the groundwork for the further development of hardware and software systems, sensory-motor vector-space representations, and coupling with higher-level cognition.
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Chang, C., M. J. Chung, and Z. Bien. "Collision-free motion planning for two articulated robot arms using minimum distance functions." Robotica 8, no. 2 (April 1990): 137–44. http://dx.doi.org/10.1017/s0263574700007712.

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SummaryThis paper presents a collision-free motion planning method of two articulated robot arms in a three dimensional common work space. Each link of a robot arm is modeled by a cylinder ended by two hemispheres, and the remaining wrist and hand is modeled by a sphere. To describe the danger of collision between two modeled objects, minimum distance functions, which are defined by the Euclidean norm, are used. These minimum distance functions are used to describe the constraints that guarantee no collision between two robot arms. The collision-free motion planning problem is formulated as a pointwise constrained nonlinear minimization problem, and solved by a conjugate gradient method with barrier functions. To improve the minimization process, a simple grid technique is incorporated. Finally, a simulation study is presented to show the significance of the proposed method.
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Gümbel, Philip, Xiao He, and Klaus Dröder. "Precision optimized pose and trajectory planning for vertically articulated robot arms." Procedia CIRP 106 (2022): 185–90. http://dx.doi.org/10.1016/j.procir.2022.02.176.

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Saravanan, Vimala, M. Ramachandran, and Vidhya Prasanth. "An Overview of Network Robot System and Its Applications." Design, Modelling and Fabrication of Advanced Robots 1, no. 2 (June 1, 2022): 83–90. http://dx.doi.org/10.46632/dmfar/1/2/4.

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A robot capable of performing multiple tasks is a multi-purpose device with one or more arms and joints. Robots are similar to humans, but industrial robots do not resemble humans. Any machine that operates automatically that modifies human effort is a robot that does not look or resemble humans in appearance or perform human-like functions. In a nutshell, The full layout of ROBOT consists of a movable body system, a motor, which controls all of these organs is the "brain". Basically, the engineering department handles construction and operation. Reflect the behavior of humans and animals. Robotics, layout, production and use of machines (robots) to perform responsibilities traditionally carried out by humans. Robots are extensively used in industries which include automotive manufacturing, and in industries that require them to perform easy obligations and work in hazardous environments. The six most common kinds of robots are self sustaining cellular robots (AMRs), automatic guided motors (AGVs), exposed robots, human figures, robots and hybrids. Are robots used to power performance, speed up procedures, enhance safety, and enhance experience in more than one industry. One of the key factors controlling how an industrial robot moves and its workplace is its robot structure. There are six main types of robot structures: Cartesian, cylindrical, spherical, and selectively compatible articulated robotic arm (SCARA). Articulate, and the delta (parallel) is a human-like machine and the machine performs routine tasks according to command. A person who acts mechanically, routinely and responsibly, usually subject to the will of another; Automatic. Robots are often controlled wirelessly or autonomously using tether (wire). The easiest way to control a robot is to use a hand-held controller that is physically attached to the robot using wires or cable. What are robotics and robotics? A robot is Any device that transforms human effort, although it no longer appears like someone in look or perform the same capabilities as someone. As a discipline, Robotics offers the layout, construction and operation of robots.
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Dissertations / Theses on the topic "Articulated robot arms"

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Dentler, Donald Richard II. "Design, Control, and Implementation of a Three Link Articulated Robot Arm." University of Akron / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=akron1217208877.

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Shahzad, Muhammad Imran, and Saqib Mehmood. "Control of Articulated Robot Arm by Eye Tracking." Thesis, Blekinge Tekniska Högskola, Sektionen för datavetenskap och kommunikation, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-3096.

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Eye tracking has many comprehensive achievements in the field of human computer interaction. Uses of human eyes as an alternative of hands are an innovative way in the human computer interaction perspective. Many application of autonomous robot control has already been developed, but we developed two different interfaces to control the articulated robot manually. The first of these interfaces is controlled by mouse and the second is controlled by eye tracking. Main focus of our thesis is to facilitate the people with motor disabilities by using their eye as an input instead of a mouse. Eye gaze tracking technique is used to send commands to perform different tasks. Interfaces are divided into different active and inactive regions. Dwell time is a well known technique which is used to execute commands through eye gaze instead of using a mouse. When a user gazes in an active region for a specific dwell time, the command is executed and the robot performs a specific task. When inactive regions are gazed at, there no command execution and no function are performed. The difference between time of performing the task by mouse and Eyetracking is shown to be 40 ms, the mouse being faster. However, a mouse cannot be used for people with motor disabilities, so the Eyetracker in this case has a decisive advantage. Keywords: Eyetracking, Interface, Articulated robot
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Kracht, Aaron Arthur. "A Linear Base Articulated Robot Arm for Surgical Endoscopy." NCSU, 2006. http://www.lib.ncsu.edu/theses/available/etd-05152006-160438/.

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This project involved developing a surgical robot assistant using an articulated robot running on a linear axis. The research concentrated on studying the localization of an endoscopic tool. The kinematics involved in this type situation requires that a constant point in space (trocar point) is maintained along a rigid tool while repositioning the manipulator. Results show that the localization algorithm and interactive interface developed is capable of using this unique robot configuration to perform the desired task. For this system, error was used as the performance metric. Positioning of the endoscopic manipulator relative to the world coordinate frame was possible to within 0.05 inch. Error in maintaining a constant point in space is evident during repositioning however this was caused by limitations in the robot arm.
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Labbé, Anton, and Benjamin Ström. "Construction of a Selective Compliance Articulated Robot Arm : And evaluation of its accuracy." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296163.

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The concept of a robotic manipulator is widely used throughout many industries. In this project, a manipulator of the type SCARA, selective compliance articulated robot arm, is constructed. The aim was to examine how such a robot could be constructed using 3D-printing and how accurate it would be. Other than 3D-printing, parts in the form of guiding rods, lead screw, bearings, pulleys and timing belts were used. Together with a microcontroller, the robot operates using three stepper motors. In the end it resulted in a SCARA with reasonable accuracy considering the methods used, more specifically the largest average error was 3.6cm in the X direction and 2.3 cm in the Y direction. The largest drawback of the final construction was the negative balance between tightening the belts and friction in the inner joint. Tightening the belts meant larger friction and thereby undesired movement properties. Doing the opposite meant that the belts could start slipping and enabled backlash.
Konceptet av en robotarm används brett inom många industrier. Detta projekt syftar till att konstruera en robot avtypen SCARA, selective compliance articulated robot arm. Målet var att undersöka hur en sådan robot kan 3D-printas och dess precision. Förutom 3D-printade delar användes även guidestänger, kullager, kamremmar och remskivor. Robotens rörelser styrs tillsammans med en mikrokontroller och tre stegmotorer. Med tillvägagångssätten i åtanke resulterade projektet in en SCARA med rimlig precision. Mer specifikt var medelfelet 3.6 cm i X-led och 2.3 cm i Y-led. Den största nackdelen med den slutgiltiga konstruktionenvar den negativa jämvikten mellan att spänna kamremmarna och friktionen i den inre armleden. Att spänna kamremmarna innebar en ökning i friktion och därmed oönskade rörelseegenskaper. Att göra tvärtom innebar att bältena löpte större risk att glida ur och möjliggjorde dödgång.
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(9809531), Patrick Keleher. "Adaptive and sliding mode control of articulated robot arms using the Liapunov method incorporating constraint inequalities." Thesis, 2003. https://figshare.com/articles/thesis/Adaptive_and_sliding_mode_control_of_articulated_robot_arms_using_the_Liapunov_method_incorporating_constraint_inequalities/21721025.

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In this thesis we investigate the control of rigid robotic manipulators using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's endeffector into a desired fixed target within finite time.

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CAI, KAI-LU, and 蔡凱陸. "Development of the Seven-Axis Articulated Robot Arm." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/50256073618742359398.

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碩士
國立雲林科技大學
電機工程系
104
This thesis designs a seven-axis articulated robot arm with image recognition system. The system bases on the kernel of Mitsubishi Q series programming logic controller, and uses seven AC servo motors, seven servo drivers, two position modules and reducers. The concept of this thesis is to evaluate the motion trajectories of robot arm by establishing the basis coordinates of end effector for the robot arm. We study the joint structure of articulated arm, and compute the equation of forward and inverse kinematics for each joint. Furthermore, we use image system to recognize color and sharp of different balls and cubes by Kinect system. The Kinect system can detect the depth of the object, the robot arm catches the assigned object according to the information of the Kinect system. Then, we get the three dimensional coordinate and calculate its corresponding coordinate of the arm by using Matlab. Finally, we do the optimizations for each joint of the robot arm, Original Point Return, and speed adjustment by visual studio project management system. In this thesis, the robot arm presented various experimental results that depend on different purposes or missions, such as playing dominoes, drawing pictures, writing, piling up, and separating stuffs and so on.
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Hsu, Che-Chih, and 許哲誌. "Design and Implementation of a SoPC for Articulated Robot Arm." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/39995594986769712081.

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碩士
南台科技大學
電機工程系
93
A servo control IC for vertical articulated robot arm using SoPC technology is presented in this thesis. The development environment of SoPC technology includes a field programmable gate array (FPGA) and a Nios processor which can be embedded into FPGA. In the proposed servo control IC, there are two modules. One Module is implemented by software using Nios embedded processor, and it performs the Ethernet communication with remote PC, the functions of the sequential control, the inverse kinematics of the Robot arm, point to point motion control and the continuous motion trajectory control. The other module is implemented by hardware using FPGA, and it performs the function of position control of the articulated robot arm driven by five dc servo motors. In the latter module, it concludes a position/speed controller circuit, five QEP (Quadrature Encoder Pulse) capture circuits and five PWM (Pulse Width Modulation) circuits. Programs in Nios processor are coded in C language and digital hardware circuits are designed by VHDL language. The FPGA chip adopts ALTERA Stratix EP1S10F780C6ES, which has 10,570 LEs, maximum 426 user I/O pins, 6 DSP blocks and total 920,448 RAM bits, and a Nios processor can be embedded into this FPGA chip. Therefore, under this SoPC environment, it is very suitable for developing the servo control IC like the robot arm. At last, an experimental system which includes a FPGA-based experimental board, five set of inverters, five set of rectifiers and an articulated robot arm has been set up and some experimental results have been provided and demonstrated the effectiveness and correctness of the proposed servo control IC of the robot arm.
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Chen, Chia-Sheng, and 陳家聖. "The Development of SOPC-based Motion Control System for an Articulated Robot Arm." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/25458581002430108654.

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碩士
南台科技大學
電機工程系
95
A motion control system for an articulated robot arm using System On a Programmable Chip (SOPC) technology is presented in this thesis. The development environment of SOPC technology includes a Field Programmable Gate Array (FPGA) and a Nios II processor which can be embedded into FPGA. In the proposed motion control system, there are two modules. One Module is implemented by software using Nios II embedded processor, and it performs the functions of the sequential control, point to point motion control and the continuous motion trajectory control. The other module is implemented by hardware using FPGA, and it performs the inverse kinematics of the Robot arm, the function of position control of the articulated robot arm driven by five dc servo motors. In the latter module, it concludes a position/speed controller circuit, five Quadrature Encoder Pulse (QEP) capture circuits and five Pulse Width Modulation (PWM) circuits. Programs in Nios II processor are coded in C language and digital hardware circuits are designed by VHDL language. The FPGA chip adopts Altera Stratix II EP2S60F672C5ES, which has 48,352ALUTs, maximum 492 user I/O pins, 36 DSP blocks and total 2,544,192 RAM bits, and a Nios II processor can be embedded into this FPGA chip. Therefore, under this SOPC environment, it is very suitable for developing the motion control system like the robot arm. At last, an experimental system which includes a FPGA-based experimental board, five set of inverters, five set of rectifiers and an articulated robot arm has been set up and some experimental results have been provided and demonstrated the effectiveness and correctness of the proposed motion control system of the robot arm
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Liu, Wei-Ging, and 劉偉嘉. "A Study of an Integrated Design of Articulated Robot Arm and Electronic Control System." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/tusu8j.

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碩士
國立勤益科技大學
電機工程系
105
A study of an integrated design of articulated robot arm and electronic control system is presented in this thesis. The objective of this design is to develop key components for an articulated robot arm and design the associated electronic control system. 1. Structural design of articulated robot arm: The robot arm contains totally 5 movable joints, i.e. shoulder joint, shoulder and upper arm joint, upper and lower arm joint, lower arm and wrist joint, and end-effector joint. The end-effector is also equipped with a sucker for picking up objects. The movable mechanisms in the joints are driven with Harmonic Drive. Among the five joints, four of them are driven by DC servo motor, Harmonic Drive and belt. The last one is driven directly by DC servo motor with a decelerator. 2. Design of articulated robot arm and electronic control system: DC servo motors are mainly used to drive the articulated robot arm in this design. Five axes in this system need to be driven. The electronic control system in this study is deigned based on the embedded system’s architecture. Each DC servo motor is driven by a servo control card. The servo control card consists mainly of: embedded chip and sensor for collision prevention, power module and serial communication port for receiving driving instructions coming form the computer or axle card, and memories for storing the status and behavior of the motor. It individually accomplishes closed loopservo control as well. According to this architectural design, each DC servo motor, when used with servo control card, functions as a single Radio Controll Motor (RC) motor. The computer or axle card can give instructions to each unit separately. With this distributed control architecture, the articulated robot arm can be manipulated with ease. 3. Power system design: Stable power system is the key to the successful manipulation of robot arm. In this study, an effective power supply system that will power the entire operations of the system is designed based on the calculation of the power needed by the motors of the joints, electronic control systems and servo control circuits. In this study, an integrated articulated robot arm is designed, experimented and tested. The expected goals such as swinging, positioning and specific gesture manipulations of robot arm have been successfully achieved.
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Books on the topic "Articulated robot arms"

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Malachowski, M. J. Beam rider for an articulated robot manipulator (ARM): Accurate positioning of long flexible manipulators. [Cleveland, Ohio]: National Aeronautics and Space Administration, [Lewis Research Center, 1990.

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Book chapters on the topic "Articulated robot arms"

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Kroos, Christian, Damith C., and Stelarc. "From Robot Arm to Intentional Agent: the Articulated Head." In Robot Arms. InTech, 2011. http://dx.doi.org/10.5772/16383.

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Goto, Satoru. "Teleoperation System of Industrial Articulated Robot Arms by Using Forcefree Control." In Robot Manipulators Trends and Development. InTech, 2010. http://dx.doi.org/10.5772/9190.

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Goto, Satoru. "Forcefree Control for Flexible Motion of Industrial Articulated Robot Arms." In Industrial Robotics: Theory, Modelling and Control. Pro Literatur Verlag, Germany / ARS, Austria, 2006. http://dx.doi.org/10.5772/5014.

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Lim, Wen Bin, Guilin Yang, Song Huat Yeo, and Shabbir Kurbanhusen Mustafa. "Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation." In Service Robots and Robotics, 274–94. IGI Global, 2012. http://dx.doi.org/10.4018/978-1-4666-0291-5.ch015.

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A Cable-Driven Robotic Arm (CDRA) possesses a number of advantages over the conventional articulated robotic arms, such as lightweight mechanical structure, high payload, fault tolerance, and most importantly, safe manipulation in the human environment. As such, a mobile manipulator that consists of a mobile base and a CDRA can be a promising assistive robot for the aging or disabled people to perform necessary tasks in their daily life. For such applications, a CDRA is a dexterous manipulator that consists of a number of cable-driven joint modules. In this chapter, a modular design concept is employed in order to simplify design, analysis, and control of CDRA to a manageable level. In particular, a 2-DOF cable-driven joint module is proposed as the basic building block of a CDRA. The critical design analysis issues pertaining to the kinematics analysis, tension analysis, and workspace-based design optimization of the 2-DOF cable-driven joint module are discussed. As a modular CDRA can be constructed into various configurations, a configuration-independent kinematic modeling approach based on the Product-of-Exponentials (POE) formula is proposed. The effectiveness of the proposed design analysis algorithms are demonstrated through simulation examples.
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Santolaria, Jorge, and Juan Jose. "Kinematic Calibration of Articulated Arm Coordinate Measuring Machines and Robot Arms Using Passive and Active Self-Centering Probes and Multipose Optimization Algorithm Based in Point and Length Constrains." In Robot Manipulators New Achievements. InTech, 2010. http://dx.doi.org/10.5772/9345.

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Conference papers on the topic "Articulated robot arms"

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Shen, Tao, Kevin Warburton, Carl A. Nelson, and Dmitry Oleynikov. "Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34369.

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This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including an articulated snake-like linkage, motor housing and an arm connector. The ADM contains two independent curvature sections which can articulate into complex S shapes for improved access to surgical targets. A connector between the bimanual arms and the ADM provides an efficient and convenient way to assemble and disassemble the system as necessary for insertion and removal of the robot. Four DC motors guide four pairs of cables with linear actuation to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.
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Han, Xu, Mingxing Lin, Xiaojian Wu, and Junyu Yang. "Design of An Articulated-tracked Mobile Robot with Two Swing Arms." In 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, 2019. http://dx.doi.org/10.1109/icarm.2019.8833638.

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Seow, Chi Min, Wei Jian Chin, and Carl A. Nelson. "Robot Kinematic Design Studies for Natural Orifice Surgery." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47961.

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This paper presents kinematic aspects of a multifunctional robotic manipulator for use in natural orifice surgery. A literature review of some existing surgical robots is presented. The robot folding configurations for insertion/removal are described. The kinematics and workspace of the robotic manipulator and their application in a space-constrained environment are explored as well. The main goal is to find out the best way to fully utilize limited degrees of freedom in the robot arms local to the surgical site as well as additional motions provided by the hyper-redundant, underactuated articulated drive mechanism, in order to provide the dexterity and workspace required for typical surgical interventions.
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Reina, Giulio, Rocco Galati, Andrea Grazioso, Angelo Ugenti, and Giacomo Mantriota. "Introducing Polibot: A High Mobility Tracked Robot with Innovative Passive Suspensions." In 11th Asia-Pacific Regional Conference of the ISTVS. International Society for Terrain-Vehicle Systems, 2022. http://dx.doi.org/10.56884/qyuy9071.

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In the context of autonomous off-road mobility, tracked robots feature larger contact areas compared to equivalent wheeled vehicles, which turn into improved traction especially on soft terrains. This paper discusses a novel tracked robot, named Polibot, that is outfitted with passive articulated suspensions. The multibody model is developed within the MSC Adams environment leveraging on the Adams Tracked Vehicle (ATV) Toolkit. The different subsystems composing the vehicle assembly are outlined, with specific attention to the modeling strategies of the swing arms constituting the suspension system, as well as the characterization of the track belt and inertial properties. Efforts in validating the multibody twin against the real prototype are also presented, showing a good agreement in experiments performed on asphalt.
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Rojas, Salvador, He Shen, Holly Griffiths, Ni Li, and Lanchun Zhang. "Motion and Gesture Compliance Control for High Performance of a Wheeled Humanoid Robot." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-72337.

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Humanoid robots have the potential to help or even take the place of humans working in extreme or undesirable environments. Wheeled humanoids are robots that combine the mobility of mobile platforms, and the dexterity of an articulated body with two robotic arms. To perform like a human being, these robots normally are designed with a high center of mass, which makes it challenging to maintain stability while achieving high performance on complex and unpredictable terrain. Inspired from how humans react to balance themselves, a compliance control method is studied to help the wheeled humanoid robot developed at the Robotics Laboratory at Cal State LA achieve high dynamic performance while scouting over uneven terrain. Lagrange-Euler method is used to obtain the dynamic model of the humanoid robot. Then a nonlinear sliding mode compliance controller is derived and proven to ensure asymptotic stability of the humanoid robot while tracking desired reference trajectories. Finally, the performance of the proposed compliance control system is demonstrated using simulation. The results show that the robot successfully tracks a given input while maintaining balance based on the proposed tip-over avoidance algorithm.
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Nishikawa, Satoshi, Tomohiro Kobayashi, Toshihiko Fukushima, and Yasuo Kuniyoshi. "Pole vaulting robot with dual articulated arms that can change reaching position using active bending motion." In 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids). IEEE, 2015. http://dx.doi.org/10.1109/humanoids.2015.7363564.

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Grandas Franco, Jean Carlo, and Carlos Borrás Pinilla. "On the Dynamic and Control for a Three Degree-of-Freedom Robotic Arm Used for Rehabilitation Purposes in Medicine." In ASME 2021 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/imece2021-71911.

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Abstract The usage of “robotic arms” for passive rehabilitation of post-stroke patients has been gaining relevance, considering how it can assist medical personal to carry out their tasks properly. However, when it comes to controlling these kinds of devices, it normally must deal with non-linearities issues resulting from the mathematical model of robotic arms, which is the case for three degrees of freedom (3DoF) articulated arm. Besides, uncertainties and constraints must be considered, as well as proper reduction of error signals, to assist real patients. For the given case of study, two control strategies were developed and implemented: PID and Sliding Mode Control with LQG. For both cases, the nonlinear mathematical model was developed and implemented as the system to be controlled. The PID controller was developed as a performance reference and comparison, and the Sliding Mode Controller with Extended Kalman Filter (LQG) design was proposed to increase robustness and stability on tracking trajectories to the rehabilitation of patients. The mathematical model of the 3DOF robotic arm was derived from the Euler-Lagrange formulation which is based on energy equations. For both control strategies, the system was implemented in Matlab© and Simulink© environments. While both show good performance in terms of settling time, SMC delivers the best results in terms of energy costs, noise rejection, and uncertainties, which can be easily set up with a combination of LQG control strategies. Since weight compensation was considered for the plant “robotic arm” design, the control could be applied for a real robot prototype, and it is scalable in terms of physical parameters and the required compensation forces.
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8

Bhatt, Rajankumar, Chin Pei Tang, Michel Abou-Samah, and Venkat Krovi. "A Screw-Theoretic Analysis Framework for Payload Manipulation by Mobile Manipulator Collectives." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81525.

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In recent times, there has been considerable interest in creating and deploying modular cooperating collectives of robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single agent or when there are distinct benefits that accrue by cooperation of many simple robotic modules. However, the nature of the both the individual modules as well as their interactions can affect the overall system performance. In this paper, we examine this aspect in the context of cooperative payload transport by robot collectives wherein the physical nature of the interactions between the various modules creates a tight coupling within the system. We leverage the rich theoretical background of analysis of constrained mechanical systems to provide a systematic framework for formulation and evaluation of system-level performance on the basis of the individual-module characteristics. The composite multi-d.o.f wheeled vehicle, formed by supporting a common payload on the end-effectors of multiple individual mobile manipulator modules, is treated as an in-parallel system with articulated serial-chain arms. The system-level model, constructed from the twist- and wrench-based models of the attached serial chains, can then be systematically analyzed for performance (in terms of mobility and disturbance rejection.) A 2-module composite system example is used through the paper to highlight various aspects of the systematic system model formulation, effects of selection of the actuation at the articulations (active, passive or locked) on system performance and experimental validation on a hardware prototype test bed.
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9

Wang, Shih-Liang. "On Force and Motion Control of Serial-Parallel Robots." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1151.

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Abstract A serial-parallel robot has the high stiffness and accuracy of a parallel robot, and a large workspace and compact structure of a serial robot. In this paper, the resolved force control algorithm is derived for serial-parallel robots, including a 3-articulated-arm platform robot, a linkage robot, and two cooperating serial robots. A S matrix is derived to relate joint torque to the external load. Using the principle of virtual work, S is used in resolved rate control algorithm to relate the tool velocity to joint rate. S can be easily expanded to the control of redundant actuation, and it can be used to interpret singularity. MATLAB is used to verify these control algorithms with graphical motion animation.
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Nimon, Andrew S., Andriy Sherehiy, Moath Alqatamin, Danming Wei, and Dan O. Popa. "Precision Evaluation of Large Payload SCARA Robot for PCB Assembly." In ASME 2022 17th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/msec2022-85534.

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Abstract The placement of SMD components is usually performed with Cartesian type robots, a task known as pick-and-place (P&P). Small Selective Compliance Articulated Robot Arm (SCARA) robots are also growing in popularity for this use because of their quick and accurate performance. This paper describes the use of the Lean Robotic Micromanufacturing (LRM) framework applied on a large, 10kg payload, industrial SCARA robot for PCB assembly. The LRM framework guided the precision evaluation of the PCB assembly process and provided a prediction of the placement precision and yield. We experimentally evaluated the repeatability of the system, as well as the resulting collective errors during the assembly. Results confirm that the P&P task can achieve the required assembly tolerance of 200 microns without employing closed-loop visual servoing, therefore considerably decreasing the system complexity and assembly time.
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