Using COTS to construct a high performance robot arm
2007 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, IEEE , 2007, 4056-4063 p.Conference paper (Refereed)
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 , 2007. 4056-4063 p.
, IEEE International Conference On Robotics And Automation, ISSN 1050-4729
Acceleration, Cameras, Control systems, End effectors, Gravity, Humans, Kinematics, Manipulators, Robotics and automation, Robots
IdentifiersURN: urn:nbn:se:kth:diva-39157DOI: 10.1109/ROBOT.2007.364102ISI: 000250915304010ScopusID: 2-s2.0-36349001252ISBN: 978-1-4244-0601-2OAI: oai:DiVA.org:kth-39157DiVA: diva2:439568
2007 IEEE International Conference on Robotics and Automation, ICRA'07; Rome; 10 April 2007 through 14 April 2007