Editorial: Kinematic Design of Manipulators
Physical human-robot interaction: Dependability, safety, and performance
Michele Bavaro
2008
Robots designed to share an environment with humans, such as e.g. in domestic or entertainment applications or in cooperative material-handling tasks, must fulfill different requirements from those typically met in industry. It is often the case, for instance, that accuracy requirements are less demanding. On the other hand, concerns of paramount importance are safety and dependability of the robot system. According to such difference in requirements, it can be expected that usage of conventional industrial arms for anthropic environments will be far from optimal. An approach to increase the safety level of robot arms interacting with humans consists in the introduction of compliance at the mechanical design level. In this paper we discuss the problem of achieving good performances in accuracy and promptness with a robot manipulator under the condition that safety is guaranteed throughout whole task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human- interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.
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The International Journal of Robotics
Stefan Schaal
2008
Abstract Dexterous manipulation with a highly redundant movement system is one of the hallmarks of human motor skills. From numerous behavioral studies, there is strong evidence that humans employ compliant task space control, ie they focus control only on task variables while
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Free PDFThe International Journal of Robotics
Introduction to Robotics Mechanics and Control Third Edition
Dung Nguy?n Ti?n
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Free PDFIntroduction to Robotics Mechanics and Control Third Edition
Robotics
Marko Munih
2010
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Etienne Dombre, Wisama Khalil Robot Manipulators Modeling, Performance Analysis and Control
islam azeb
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Free PDFEtienne Dombre, Wisama Khalil Robot Manipulators Modeling, Performance Analysis and Control
B. Sicilliano -Robotics. Modelling, Planning and Control
Jose Luis Leon Torres
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Mechanical Engineering Series JorgeeAngeles Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Fourth Edition
DANIEL JARAMILLO QUINTANAR
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Free PDFMechanical Engineering Series JorgeeAngeles Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Fourth Edition
Fundamentals of Robotic
Omar Castro
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Computer Modeling and Synthesis of Human Centered Robots
Dimitar Chakarov
2004
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Free PDFComputer Modeling and Synthesis of Human Centered Robots
In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction
Aïcha Fonte
2018, IEEE Robotics & Automation Magazine
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Free PDFIn Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction
Fundamentals of mechanics of robotic manipulation
Marco Ceccarelli
2004
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ICARSC’2020 – Industrial Robot journal Best Paper Award
Bruno Vieira
2020
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Fundamentals of Robotics Chapter Topics 2.1 Parts of a Robot 2.2 Degrees of Freedom 2.3 Classifying Robots
Batista Cena
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Robotica: Reportes Finales Enero-Mayo 2012
Gildardo Sánchez
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Robot Manipulator Kinematics
Kibret Alemayehu
2018
A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes about a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs. A unique feature is its detailed analysis of 3R mechanisms. Case studies show how the techniques described in the book are used in real engineering applications. The book will be useful to both graduate students and engineers working in the field of robotics.
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Robotics of human movements
Markus Grebenstein
2009, Journal of Physiology-Paris
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Robot Kinematics: Forward and Inverse Kinematics
Mohit Sharma
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Theory of Applied Robotics
Reza Jazar
2007
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Robotic Arm Controller Bachelor of Engineering (Honours) Sustainable Design Engineering Year 4, Semester 7 2012/13 Sustainable Design Practice 2 Robotic Arm Controller Robotic Arm Controller Table of Contents
Connor Quinn
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1998_IntJComp.Math_Direct Robot Dynamics Systolic, vol. 67, pp. 239-260.pdf
B.G. Mertzios
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A Journey from Robot to Digital Human: Mathematical Principles and Applications with MATLAB Programming
Edward Gu
2013
This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLAB codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLAB, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate ...
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Advanced Mechanics in Robotic System
Erika Ottaviano
Humans have always been fascinated with the concept of artificial life and the construction of machines that look and behave like people. As the field of robotics evolves, it demands continuous development of successful systems with high-performance characteristics for practical applications. Advanced Mechanics in Robotic Systems illustrates original and ambitious mechanical designs and techniques for developing new robot prototypes with successful mechanical operational skills. Case studies are focused on projects in mechatronics that have high growth expectations: humanoid robots, robotics hands, mobile robots, parallel manipulators, and human-centred robots. A good control strategy requires good mechanical design, so a chapter has also been devoted to the description of suitable methods for control architecture design. Readers of Advanced Mechanics in Robotic Systems will discover novel designs for relevant applications in robotic fields, that will be of particular interest to ac...
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Computation with mechanically coupled springs for compliant robots
Hidenobu Sumioka
2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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MECHANICS, PLANNING, AND CONTROL
Izzeldeen M O H A M M A D Badarin
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Kinematic control of constrained robotic systems
Fernando Lizarralde
2011, Sba: Controle & Automação Sociedade Brasileira de Automatica
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Redefinition of the robot motion-control problem
Larry Sweet
IEEE Control Systems Magazine
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Joint-Level Control of the DLR Lightweight Robot SARA
Oliver Eiberger
2020, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Actas do Encontro Científico 3º Festival Nacional de Robótica-ROBOTICA2003 Lisboa, 9 de Maio de 2003
Diogo Gomes
Abstract: This paper describes the architecture and current capabilities of Carl, a prototype of an intelligent service robot, designed having in mind such tasks as serving food in a reception or acting as a host in an organization. The approach that has been followed in the design of Carl is based on an explicit concern with the integration of the major dimensions of intelligence, namely Communication, Action, Reasoning and Learning. The paper focuses on the multi-modal human-robot communication capabilities of Carl, since these have ...
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