Property of force-free control with independent compensation for inertia, friction and gravity of industrial articulated robot arm

2003 ◽  
Author(s):  
S. Goto ◽  
M. Nakamura ◽  
N. Kyura
Keyword(s):  
Robot Arm ◽  
Articulated Robot

scholarly journals An integrated system design interface for operating 8-DoF robotic arm

2022 ◽  
Author(s):  
Madhav Rao
Keyword(s):  
Upper Limb ◽  
System Integration ◽  
Integrated System ◽  
Microsoft Kinect ◽  
Robotic Arm ◽  
Robot Arm ◽  
Game Engine ◽  
Kinematic Modeling ◽  
Articulated Robot ◽  
Integrated System Design

This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

A study on robust control of articulated robot arm with seven joints

2015 ◽  
Author(s):  
Jun-seok Yang ◽  
Young-mok Koo ◽  
Sang-Young Jo ◽  
Byoung-kyuk Shim ◽  
Sung-Cheol Jang ◽  
...  
Keyword(s):  
Robust Control ◽  
Robot Arm ◽  
Articulated Robot

scholarly journals KINEMATICS ANALYSIS AND IMPLEMENTATION OF THREE DEGREES OF FREEDOM ROBOTIC ARM BY USING MATLAB

2021 ◽  
Vol 21 (2) ◽  
pp. 118-129
Author(s):  
Hasan Dawood Salman ◽  
Mohsin Noori Hamzah ◽  
Sadeq Hussein Bakhy
Keyword(s):  
Interface Design ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Algebraic Solution ◽  
Robot Arm ◽  
Kinematics Modeling ◽  
Arduino Microcontroller ◽  
Articulated Robot ◽  
Forward Kinematic ◽  
Three Degree Of Freedom

The kinematics modeling of the robot arm plays an important role in robot control. This paper presents the kinematic model of a three-degree of freedom articulated robot arm, which is designed for picking and placing an application with hand gripper, where a robot has been manufactured for that purpose. The forward kinematic model has been presented in order to determine the end effector’s poses using the Denavit-Hartenberg (DH) convention. For inverse kinematics, an algebraic solution based on trigonometric formulas mixed with geometric method was adopted for a 3 DOF modular manipulator taking into account the existence of a shoulder offset. MATLAB software was used as a tool to simulate and implement the motional characteristics of the robot arm, by creating a 3D visual software package under designing a Graphical User Interface "GUI" with a support simulation from robotic Toolbox (Rtb 10.3). Finally, an electronic interfacing circuit between the GUI program and the robot arm was developed using Arduino microcontroller to control the robot motion. The presented work can be applicable for learning the reality interface design methodology of the other kinds of robot manipulators and achieve a suitable solution for the motional characteristics

The Command of a Virtual Industrial Robot Using a Dedicated Haptic Interface

2013 ◽  
Vol 837 ◽  
pp. 543-548 ◽  
Author(s):  
Silviu Butnariu ◽  
Florin Gîrbacia
Keyword(s):  
Haptic Feedback ◽  
Industrial Robot ◽  
Structural Similarity ◽  
Haptic Device ◽  
Haptic Interface ◽  
Robot Arm ◽  
Test Results ◽  
Human Arm ◽  
Angular Data ◽  
Articulated Robot

In this paper is presented a study regarding the possibilities of commandinga virtual robot using a haptic interface. In order to demonstrate the functionality of this concept, a dedicated device with 1 DOF was developed. This device consists of twin motor-gearbox able to acquire and transmit the angular data of the shaft and return a haptic feedback corresponding to the robot movement. The proposed haptic device makes it possible to command one joint of an industrial robot and can be used as an essential component for the development of an exoskeleton for human arm and is able to generate a haptic interaction for all the joints. The exoskeleton solution will allow a structural similarity between the haptic device and an articulated robot arm. The test results with haptic feedback scenarios show that the proposed system can help inexperienced users to handle robot operation and programming tasks in an intuitive way.

Sign in / Sign up

Export Citation Format

Share Document