Design of a high-performance humanoid dual arm system with inner shoulder joints

Rader, Samuel; Kaul, Lukas; Fischbach, Hennes; Vahrenkamp, Nikolaus; Asfour, Tamim

doi:10.1109/humanoids.2016.7803325

Cited by 29 publications

(6 citation statements)

References 11 publications

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“…There exist the infinite inverse solutions for redundant robots under a fixed target position or pose. This flexibility can be utilized to avoid obstacles and singularity in real applications [95]. GPM is an obstacle-avoidance method for redundant manipulators [59], wherein the joint angular velocity was expressed byq =q s +q h = J +ẋ + k(I − J + J ) H (q), q s ,q h ∈ n are the particular and homogeneous solutions of each joint velocity, respectively,ẋ denotes the operating velocity of the robotic end effector, J ∈ m×n is the Jacobian Matrix of the robot,…”

Section: Gradient Projection Methodsmentioning

confidence: 99%

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

Zhang

Liu

et al. 2019

IEEE Access

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In most existing bolt assembling operations, the human-machine collaboration (HMC) is used to guarantee both the operational efficiency and the connection quality. However, the huge labor intensity and costs are still needed when there exist bolts with huge quantity and multiple models in some special working environments, for example locomotive maintenance and automobile assembly. Actually, the robotic application can better solve the above problem. The main reason why this application is limited in the bolt assembly is due to the technological barriers related to the intelligent control. This paper firstly introduces the HMC-based and the robot-guided bolt assembly processes in detail, then summarizes the latest researches related to the significant technologies needed in the robot-guided assembly to show their present status and future trends. Finally based on the technology limitations this paper further presents some suggestions for future studies of each technology, which attempts to help readers broaden their research thoughts and speed up the development of the robot-guided bolt assembly.INDEX TERMS Automatic bolt assembly, robotic application, technological barrier, intelligent control.

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Section: Gradient Projection Methodsmentioning

confidence: 99%

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

Zhang

Liu

et al. 2019

IEEE Access

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“…Utilizing human arm kinematics, each arm can have 8 degrees of freedom together with one joint of the inner shoulder. Compared to robots with 7 degrees of freedom, it provides a greater working area and dexterity when used with the inner shoulder joint (Rader et al, 2016). While robotic harvesting often remains a problem in an unstructured and complex environment, a new barrier separation algorithm is developed to enable a harvesting system to pick strawberries from clusters.…”

Section: Instruction Girişmentioning

confidence: 99%

Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes

Koç

DOĞAN

2022

Gümüşhane Üniversitesi Fen Bilimleri Enstitüsü Dergisi

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These days, in industrial robot applications, servo motors with reducer have been used to move robot manipulators. Due to the weight of the robot parts, it causes undesirable conditions such as backward movement, downward movement and vibration caused by the moments of inertia at the time of movement. In this study, step motor ball screw driven actuators, which use push-pull force instead of servo motor with reducers, were utilized to provide rotational movement in robot arms. The ball screw system reduces the effect of moments of inertia caused by the movements of the robot joints, and restricts the free movements of the robot joints. It also provides an advantage by reducing costs since it uses smaller motors. In articulated robots, the complexity of kinematic equations and the use of high-order polynomials for trajectory planning cause difficulties in controlling. In this study, the information of the points, where the robot went during the manual movement, was obtained by using the macros prepared in program interface without using kinematic and trajectory planning equations. The position lines taken at these points were printed in a text file by adding the code G01 and f feed-rate. The robot was made to move by running this file in the program interface used for control. This method allows the operator to use the robot without advanced kinematics knowledge.

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“…Inspired by human kinematics, each arm has 8 DoF, including a clavicle joint of the inner shoulder [19]. This additional joint significantly increases the bimanual workspace of the dual-arm system [20]. In combination with a reach of 1.3 m and a large range of motion in each joint, the dual-arm system has a total workspace of 8.4 m 3 and a bimanual workspace of 4.9 m 3 .…”

Section: Dual-arm System With 16 Torque-controlled Dofmentioning

confidence: 99%

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios

Asfour

Paus

Waechter

et al. 2019

IEEE Robot. Automat. Mag.

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major goal of humanoid robotics is to enable safe and reliable human-robot collaboration in realworld scenarios. In this article, we present ARMAR-6, a new high-performance humanoid robot for various tasks, including but not limited to grasping, mobile manipulation, integrated perception, bimanual collaboration, compliant-motion execution, and natural language understanding. We describe how the requirements arising from these tasks influenced our major design decisions, resulting in vertical integration during the joint hardware and software development phases. In particular, the entire hardware-including its structure, sensor-actuator units, and low-level controllers-as well as its perception, grasping and manipulation skills, task coordination, and the entire software architecture were all developed by one team of engineers. Component interaction is facilitated by our software framework ArmarX, which

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Design of a high-performance humanoid dual arm system with inner shoulder joints

Cited by 29 publications

References 11 publications

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios

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