Robot Manipulators Constructing a High-Performance Robot from Commercially Available Parts
2009 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, Vol. 16, no 4, 75-83 p.Article in journal (Refereed) Published
In this paper we present a design study and technical specifications of a high performance robotic manipulator to be used for ball catching experiments using commercial off-the-shelf (COTS) components. Early evaluation shows that very good performance can be achieved using standardized PowerCube actuator modules from Amtec and a standard workstation using CAN bus communication. Implementation issues of low-level control and software platform are also described, as well as early experimental evaluation of the system.
Place, publisher, year, edition, pages
IEEE , 2009. Vol. 16, no 4, 75-83 p.
Ball catching, robot design, teleoperation
IdentifiersURN: urn:nbn:se:kth:diva-32681DOI: 10.1109/MRA.2009.934825ISI: 000272730600013OAI: oai:DiVA.org:kth-32681DiVA: diva2:411475
QC 201104182011-09-262011-04-182012-02-24Bibliographically approved