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Using COTS to construct a high performance robot arm
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2007 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, IEEE , 2007, 4056-4063 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
IEEE International Conference On Robotics And Automation, ISSN 1050-4729
Keyword [en]
Acceleration, Cameras, Control systems, End effectors, Gravity, Humans, Kinematics, Manipulators, Robotics and automation, Robots
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-39157DOI: 10.1109/ROBOT.2007.364102ISI: 000250915304010Scopus ID: 2-s2.0-36349001252ISBN: 978-1-4244-0601-2 (print)OAI: oai:DiVA.org:kth-39157DiVA: diva2:439568
Conference
2007 IEEE International Conference on Robotics and Automation, ICRA'07; Rome; 10 April 2007 through 14 April 2007
Available from: 2011-09-26 Created: 2011-09-08 Last updated: 2011-09-26Bibliographically approved

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Smith_IROS_2007(262 kB)70 downloads
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Smith, Christian

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