Design and Control of the BUAA Four-Fingered Hand

Size: px
Start display at page:

Download "Design and Control of the BUAA Four-Fingered Hand"

Transcription

1 Proceedings of the 2001 IEEE International Conference on Robotics & Automation Seoul, Korea May 21-26, 2001 Design and Control of the BUAA Four-Fingered Hand Y. Zhang, Z. Han, H. Zhang, X. Shang, T. Wang, W. Guo Robotics Institute Beijing University of Aeronautics and Astronautics Beijing China W. A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory Simon Fraser University Burnaby, BC V5A 1S6 Canada Abstract This research presents a multi-fingered hand and computer control system intended for research in dextrous manipulation. The hand mechanism is based on an anthropomorphic configuration with four identical fingers. Each finger has four degrees of freedom actuated by four dc servomotors. The fingers, palm, and mechanical interface to a robotic arm are separate components of a modular design allowing the hand to be highly dexterous and flexible. Each finger is a compact module with eight position sensors, and all the four actuators are integrated into the mechanical structure of the finger module. Position control has been implemented using a DSP based computer controller. Experimental results validate that the basic functionality and requirements of the hand system were achieved. 1. Introduction Future robots for space, terrestrial, home, and hospital applications can benefit from the use of multi-fingered dexterous mechanical hands. These applications can involve complex tasks that are difficult or impossible for traditional two finger grippers. Multi-fingered hands with nine and more degrees of freedom (DOF) have been developed by researchers [1-13]. A common problem in dexterous hand design is how to arrange the actuators so that all degrees of freedom can be activated. Mechanism designs often utilized tendon drive mechanisms to transmit power from the actuators to the joints, thereby allowing the motors to be located away from the finger. Many designs for dexterous hands attempt to approximate the degrees of freedom of the human hand while achieving the same size. The German Aerospace Research Establishment developed a 4-fingered, 12 DOF robotic hand that was 1.5 times the size of a human hand [8]. Researchers at the NASA Johnson Space Center developed a 5-fingered 12 DOF hand that is close in size and capability to the hand of a suited astronaut [10]. To limit the size of the latter device, custom designed miniature actuators and drive trains were implemented. This paper describes a new mechanism and controller for a robotic hand intended for the study of dexterous manipulation. The system has been developed at the Robotics Institute of Beijing University of /01/$ IEEE 2517

2 Aeronautics and Astronautics (BUAA) in collaboration with the Intelligent Robotics and Manufacturing Systems Laboratory at Simon Fraser University (SFU). The primary design criteria for the device are kinematic dexterity and force sensing capability. Key design constraints for development are total cost and ease for manufacturing. Other important considerations are reliability and flexibility. A modular design strategy has been applied to satisfy those constraints and considerations. All actuators are integrated into the finger module. Gear trains are utilized for motion transmission. The resulting hand has four fingers with sixteen DOF and its total weight is only 1.4 Kg, including the palm, actuators, motion transmission, and mechanical interface to the arm. joints of each finger. Each actuator consists of a DC motor with a magnetic encoder and planetary gearhead. Miniature potentiometers are utilized to sense the angular position of each DOF. Figure 1. BUAA four-fingered hand 2. Hand Architecture Since it is to serve as a test bed for the investigation of dexterous manipulation, the hand mechanism should have a sufficient number of degrees of freedom to enable dexterity and the ability to sense contact with its environment. Flexibility and reliability are also important in dealing with unpredictable situations that could require changing the hand configuration. For these reasons the hand mechanism was designed with three modules: finger, palm and mechanical interface to a robot arm. The fingers should perform dexterous manipulation and offer kinematic dexterity similar to a human finger. The palm should determine the relative positions of the fingers. The hand may be configured to be anthropomorphic or nonanthropomorphic, depending on how the fingers are distributed on the palm. The mechanical interface should provide the connection between the hand and a robot arm, and adapt to different arms. The present implementation of the BUAA robotic hand has an anthropomorphic configuration with three fingers and an opposing thumb, as shown in Figure 1. An alternative hand configuration, simulated in Figure 2, can also be obtained by modifying the palm. Four rotary actuators drive the Figure 2. Alternative hand configuration 3. Finger Design To minimize costs and development time, inexpensive off-the-shelf components have been utilized. 3.1 Finger kinematics The kinematic structure of the finger mechanism is based on a simplification of a human finger. As indicated in Figure 3, the mechanism consists of three joints. The angular positions of the first joint are defined by θ 1 and θ 2. The angular positions of the second and third joints are defined by θ 3 and θ 4, respectively. Table 1 shows the ranges of the joint angle positions and the dimensions of the finger. 2518

3 3.2 Mechanical structure The mechanical structure of the finger module is shown in Figure 3. Two motors, arranged in parallel at the base frame, actuate the base joint. The left motor drives θ 1 and is fixed. The load of the base joint is greater than that of the other two joints. In order to build a compact finger, smaller motors were utilized to drive the second and the third joints. This allows motors to be mounted on the second link of the finger. Force transmission to the joints of the finger is implemented by gear trains. encoders on each motor axis. Due to the backlash and elasticity of the gears it is not possible to compute the joint angles from the transmission ratio. For this reason, miniature potentiometers are mounted on the joint axes to directly measure the joint angles. 4. Control System Architecture 4.1 Hardware structure The four-fingered dexterous hand is controlled by a PC multiprocessor control system having an open architecture that employs two DSP cards with nine servo channels (Figure 4). The DSP card for the finger joint motion receives commands via the DPRAM and the I/O register (Figure 5). The DSP is a Texas Instrument TMS320F240 having 10 bit, 12 channel A/D and 9-channel PWM output. The servo control card integrates the peripherals for driving the motors, including the counter, digital I/O, and ISA bus interface. Use of FPGA technology enables the system to be highly stable and reliable. Figure 3. Finger mechanism Joint angles (deg) θ 1 90 ~ 90 θ 2 60 ~ 30 θ ~ 115 θ 90 ~ Link lengths (mm) a 30 a 35 a 30 Table 1 Kinematic parameters Feedback of angular position is a basic requirement for the control of a dexterous robot hand. In the current design, the finger is equipped with magnetic This control system is divided into two levels in logic structure. At the upper level, a PC is responsible for coordinating the motion of the four fingers. The PC receives the planned data from keyboard commands or the communication port, and then it provides commands to the servo controllers. At the lower level, the DSP computes servo control and sends position signals to the PC. Communication between levels occurs via the ISA bus. The lower level consists of two identical modules, each providing servo control to two fingers. 4.2 Software structure Corresponding to the hardware structure, the control software is divided into task planning and real-time servo control (Figure 6) that run on the PC and the DSP control card, respectively. The planning level, written in C++, is responsible for kinematic calculations, trajectory interpolation, and PC I/O 2519

4 control. The servo control level, written in C and assembler, is responsible for DSP scheduling, motor servo control, A/D conversion and communication with the PC. KEYBOARD IBM PC RS-232 Task Planning Communication Servo Control Grasp Planning Path Planning PC Communication DSP Communication DSP Scheduling Servo A/D Planning Level Servo Control Level ISA BUS Figure 6. Software structure DSP SERVO CONTROLLER DSP SERVO CONTROLLER A/D POWER POWER DEXTEROUS HAND Figure 4. Hand control system 10Bit A/D HAND JOINT POSITION COUNTER MOTOR ENCODER RS-232C PWM POWER Figure 7. Virtual grasping TMS320F240 DIGITAL I/O 5. Experimental Results INTERRUPT DPRAM ISA BUS INTERFACE PC ISA BUS Figure 5. Servo controller hardware Currently, grasp planning is performed manually using a graphical simulation tool. An automated grasp planner using a data glove is being developed. Three experiments are described to show that the four-fingered hand achieved its specified functionality. One experiment represents a virtual hand created in ADAMS. Using this approach we computed the forward and inverse kinematics, checked potential interference between the fingers, and validated the planned grasping and manipulation. The data obtained from the simulation was used as the control input for the physical hand. 2520

5 configuration, as shown in Figure 7, contacts between each finger and the object were described by a line normal to the contact position. Figure 8 shows the simulated grasp that was actually accomplished by the physical system. Table 2 presents a comparison of the hand position between the planned and the measured data at the pre-grasping configuration. In another experiment we manipulated the ball to translate along and rotate about the three axes of a reference frame. The manipulation was simulated and verified in ADAMS and then implemented on the physical hand system. (a) Pre-grasping Joint angles Fingers (deg) planned actual planned actual planned actual planned actual Table 2. Comparison of planned and measured data 6. Conclusions and Future Research (b) Grasping Figure 8. Grasping experiments We also selected two additional experiments to test the accuracy of the kinematics and control. In the first experiment the dexterous hand was commanded to grasp a ball. The major steps that defined the grasp planning, pre-grasping and grasping, were simulated in ADAMS. At the pre-selected grasping The BUAA four-fingered hand and its control system provide a useful test bed for dexterous manipulation research. The modular architecture of the hand and the integration of actuators into the finger result in a lightweight, compact mechanism that is suitable as an end-effector for light-assembly robots. Anthropomorphic and non-anthropomorphic configurations can be obtained by modifying the palm. By changing the palm interface, the hand can be fitted to different robot arms. The use of independent finger mechanisms simplifies servicing and reliability. Experiments indicate that the basic functionality and requirements of the hand system were achieved Research is being conducted at BUAA and SFU to 2521

6 integrate newly developed 6-axis force-torque sensors to implement force/position control and control strategies to further enhance the kinematic and dynamic capabilities of the four-fingered dexterous hand. Applications of the technology are being evaluated for tasks involving mechanical assembly and personal service. Acknowledgments The authors acknowledge financial support for this research received from the National Science Foundation of China, the National High Technology Program of China, and the Natural Sciences and Engineering Program of Canada. References [1] Salisbury and J. Craig, Articulated Hands: Force Control and Kinematic Issues, Int. J. Robotic Research, Vol. 1, pp 4-17, [2] Jacobsen et al., Design of the Utah/MIT Dextrous Hand, Proc. IEEE Int. Conf. on Robotics and Automation, pp 7-10, [3] G. Guo, W. A. Gruver, and X. Qian A New Design for a Dextrous Robotic Hand Mechanism, IEEE Control Systems Magazine, Vol 12, August 1992, pp [4] B. M. Jau, Man-Equivalent Telepresence Through Four Fingered Human-Like Hand System, Proc. of IEEE Int. Conf. on Robotics and Automation, 1992, pp [5] C. Melchiorri and G. Vassura, Mechanical and Control Features of the University of Bologna Hand Version 2, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1992, pp [6] M. S. Ali, K. J. Kyriakopulos, and H. E. Stephanou, Kinematics of the ANTHROBOT-2 Dextrous Hand, Proc IEEE Int. Conf. on Robotics and Automation, Atlanta, May 1993, pp [7] H. Hashimoto, et al., An Unilateral Master-Slave Hand System with a Force-Controlled Slave Hand, Proc. of IEEE Int. Conf. on Robotics and Automation, 1995, pp [8] M. Enber and R. S. Wallace, A Direct-Drive Hand: Design, Modeling and Control, Proc. of IEEE Int. Conf. on Robotics and Automation, 1995, pp [9] Liu, et al., DLR s Multisensory Articulated Hand, Proc IEEE Int. Conf. on Robotics and Automation, 1998, [10] A. Caffaz and G. Cannata, The Design and Development of the DIST-Hand Dexterous Grippper, Proc. of IEEE Int. Conf. on Robotics and Automation, 1998, pp [11] C. S. Lovchik and M. A. Diftler, The Robonaut Hand: A Dexterous Robot Hand for Space, Proc. of IEEE Int. Conf. on Robotics and Automation, pp , [12] Y. K. Lee and I. Shimoyama, A Skeletal Framework Artificial Hand Actuated by Pneumatic Artificial Muscles, Proc. of IEEE Int. Conf. on Robotics and Automation, pp , [13] A. M. Ramos, I. A. Gravagne, and I. D. Walker, Goldfinger: A Non-Anthropomorphic, Dexterous Robot Hand, Proc. of IEEE Int. Conf. on Robotics and Automation, 1999, pp

World Automation Congress

World Automation Congress ISORA028 Main Menu World Automation Congress Tenth International Symposium on Robotics with Applications Seville, Spain June 28th-July 1st, 2004 Design And Experiences With DLR Hand II J. Butterfaß, M.

More information

Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements *

Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements * Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005 Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements * Ikuo Yamano Department

More information

Design of a Compliant and Force Sensing Hand for a Humanoid Robot

Design of a Compliant and Force Sensing Hand for a Humanoid Robot Design of a Compliant and Force Sensing Hand for a Humanoid Robot Aaron Edsinger-Gonzales Computer Science and Artificial Intelligence Laboratory, assachusetts Institute of Technology E-mail: edsinger@csail.mit.edu

More information

Dexterous Anthropomorphic Robot Hand With Distributed Tactile Sensor: Gifu Hand II

Dexterous Anthropomorphic Robot Hand With Distributed Tactile Sensor: Gifu Hand II 296 IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 7, NO. 3, SEPTEMBER 2002 Dexterous Anthropomorphic Robot Hand With Distributed Tactile Sensor: Gifu Hand II Haruhisa Kawasaki, Tsuneo Komatsu, and Kazunao

More information

Design of double loop-locked system for brush-less DC motor based on DSP

Design of double loop-locked system for brush-less DC motor based on DSP International Conference on Advanced Electronic Science and Technology (AEST 2016) Design of double loop-locked system for brush-less DC motor based on DSP Yunhong Zheng 1, a 2, Ziqiang Hua and Li Ma 3

More information

Masatoshi Ishikawa, Akio Namiki, Takashi Komuro, and Idaku Ishii

Masatoshi Ishikawa, Akio Namiki, Takashi Komuro, and Idaku Ishii 1ms Sensory-Motor Fusion System with Hierarchical Parallel Processing Architecture Masatoshi Ishikawa, Akio Namiki, Takashi Komuro, and Idaku Ishii Department of Mathematical Engineering and Information

More information

The Robonaut Hand: A Dexterous Robot Hand For Space

The Robonaut Hand: A Dexterous Robot Hand For Space Proceedings of the 1999 IEEE International Conference on Robotics & Automation Detroit, Michigan May 1999 The Robonaut Hand: A Dexterous Robot Hand For Space C. S. Lovchik Robotics Technology Branch NASA

More information

Table 1 Merits and demerits of the two types of haptic devices

Table 1 Merits and demerits of the two types of haptic devices Development of a Grounded Haptic Device and a 5-Fingered Robot Hand for Dexterous Teleoperation Yusuke Ueda*, Ikuo Yamano** and Takashi Maeno*** Department of Mechanical Engineering Keio University e-mail:

More information

We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists. International authors and editors

We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists. International authors and editors We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists 4,100 116,000 120M Open access books available International authors and editors Downloads Our

More information

Robonaut: A Robotic Astronaut Assistant

Robonaut: A Robotic Astronaut Assistant Proceeding of the 6 th International Symposium on Artificial Intelligence and Robotics & Automation in Space: i-sairas 2001, Canadian Space Agency, St-Hubert, Quebec, Canada, June 18-22, 2001. Robonaut:

More information

RAPID PROTOTYPING AND EMBEDDED CONTROL FOR AN ANTHROPOMORPHIC ROBOTIC HAND

RAPID PROTOTYPING AND EMBEDDED CONTROL FOR AN ANTHROPOMORPHIC ROBOTIC HAND The 3rd International Conference on Computational Mechanics and Virtual Engineering COMEC 2009 29 30 OCTOBER 2009, Brasov, Romania RAPID PROTOTYPING AND EMBEDDED CONTROL FOR AN ANTHROPOMORPHIC ROBOTIC

More information

An Underactuated Hand for Efficient Finger-Gaiting-Based Dexterous Manipulation

An Underactuated Hand for Efficient Finger-Gaiting-Based Dexterous Manipulation Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics December 5-10, 2014, Bali, Indonesia An Underactuated Hand for Efficient Finger-Gaiting-Based Dexterous Manipulation Raymond

More information

Modeling and Experimental Studies of a Novel 6DOF Haptic Device

Modeling and Experimental Studies of a Novel 6DOF Haptic Device Proceedings of The Canadian Society for Mechanical Engineering Forum 2010 CSME FORUM 2010 June 7-9, 2010, Victoria, British Columbia, Canada Modeling and Experimental Studies of a Novel DOF Haptic Device

More information

Prof. Ciro Natale. Francesco Castaldo Andrea Cirillo Pasquale Cirillo Umberto Ferrara Luigi Palmieri

Prof. Ciro Natale. Francesco Castaldo Andrea Cirillo Pasquale Cirillo Umberto Ferrara Luigi Palmieri Real Time Control of an Anthropomorphic Robotic Arm using FPGA Advisor: Prof. Ciro Natale Students: Francesco Castaldo Andrea Cirillo Pasquale Cirillo Umberto Ferrara Luigi Palmieri Objective Introduction

More information

EXOBOTS AND ROBONAUTS: THE NEXT WAVE IN THE SEARCH FOR EXTRATERRESTRIALS

EXOBOTS AND ROBONAUTS: THE NEXT WAVE IN THE SEARCH FOR EXTRATERRESTRIALS EXOBOTS AND ROBONAUTS: THE NEXT WAVE IN THE SEARCH FOR EXTRATERRESTRIALS Presented By : B.GOPYA College: Usha Rama College of Engineering and technology. Branch & Year: ECE-III YEAR E-Mail: battegopya@gmail.com

More information

Wireless Master-Slave Embedded Controller for a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing

Wireless Master-Slave Embedded Controller for a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing Wireless Master-Slave Embedded Controller for a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing Presented by: Benjamin B. Rhoades ECGR 6185 Adv. Embedded Systems January 16 th 2013

More information

The Development of a Low Cost Pneumatic Air Muscle Actuated Anthropomorphic Robotic Hand

The Development of a Low Cost Pneumatic Air Muscle Actuated Anthropomorphic Robotic Hand Available online at www.sciencedirect.com Procedia Engineering 41 (2012 ) 737 742 International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012) The Development of a Low Cost Pneumatic Air

More information

Robotic Hand Using Arduino

Robotic Hand Using Arduino Robotic Hand Using Arduino Varun Sant 1, Kartik Penshanwar 2, Akshay Sarkate 3, Prof.A.V.Walke 4 Padmabhoshan Vasantdada Patil Institute of Technology, Bavdhan, Pune, INDIA Abstract: This paper highlights

More information

IOSR Journal of Engineering (IOSRJEN) e-issn: , p-issn: , Volume 2, Issue 11 (November 2012), PP 37-43

IOSR Journal of Engineering (IOSRJEN) e-issn: , p-issn: ,  Volume 2, Issue 11 (November 2012), PP 37-43 IOSR Journal of Engineering (IOSRJEN) e-issn: 2250-3021, p-issn: 2278-8719, Volume 2, Issue 11 (November 2012), PP 37-43 Operative Precept of robotic arm expending Haptic Virtual System Arnab Das 1, Swagat

More information

Design and Implementation of FPGA-Based Robotic Arm Manipulator

Design and Implementation of FPGA-Based Robotic Arm Manipulator Design and Implementation of FPGABased Robotic Arm Manipulator Mohammed Ibrahim Mohammed Ali Military Technical College, Cairo, Egypt Supervisors: Ahmed S. Bahgat 1, Engineering physics department Mahmoud

More information

Chapter 1 Introduction to Robotics

Chapter 1 Introduction to Robotics Chapter 1 Introduction to Robotics PS: Most of the pages of this presentation were obtained and adapted from various sources in the internet. 1 I. Definition of Robotics Definition (Robot Institute of

More information

Humanoid Hands. CHENG Gang Dec Rollin Justin Robot.mp4

Humanoid Hands. CHENG Gang Dec Rollin Justin Robot.mp4 Humanoid Hands CHENG Gang Dec. 2009 Rollin Justin Robot.mp4 Behind the Video Motivation of humanoid hand Serve the people whatever difficult Behind the Video Challenge to humanoid hand Dynamics How to

More information

Elements of Haptic Interfaces

Elements of Haptic Interfaces Elements of Haptic Interfaces Katherine J. Kuchenbecker Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania kuchenbe@seas.upenn.edu Course Notes for MEAM 625, University

More information

Towards the Development of a Minimal Anthropomorphic Robot Hand

Towards the Development of a Minimal Anthropomorphic Robot Hand 2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids) November 18-20, 2014. Madrid, Spain Towards the Development of a Minimal Anthropomorphic Robot Hand Donald Dalli, Student Member,

More information

FUNDAMENTALS ROBOT TECHNOLOGY. An Introduction to Industrial Robots, T eleoperators and Robot Vehicles. D J Todd. Kogan Page

FUNDAMENTALS ROBOT TECHNOLOGY. An Introduction to Industrial Robots, T eleoperators and Robot Vehicles. D J Todd. Kogan Page FUNDAMENTALS of ROBOT TECHNOLOGY An Introduction to Industrial Robots, T eleoperators and Robot Vehicles D J Todd &\ Kogan Page First published in 1986 by Kogan Page Ltd 120 Pentonville Road, London Nl

More information

PC-ROBOARM WITH EFFICIENT SPEED CONTROL AND PLANNING BASED ON WIRELESS TECHNOLOGY

PC-ROBOARM WITH EFFICIENT SPEED CONTROL AND PLANNING BASED ON WIRELESS TECHNOLOGY PC-ROBOARM WITH EFFICIENT SPEED CONTROL AND PLANNING BASED ON WIRELESS TECHNOLOGY Ms. M. Vennila 1, Ms. J. Anitha Thulasi 2 Associate Prof. &HOD / EEE Department 1, Assistant Professor /EEE Department

More information

Biologically Inspired Robot Manipulator for New Applications in Automation Engineering

Biologically Inspired Robot Manipulator for New Applications in Automation Engineering Preprint of the paper which appeared in the Proc. of Robotik 2008, Munich, Germany, June 11-12, 2008 Biologically Inspired Robot Manipulator for New Applications in Automation Engineering Dipl.-Biol. S.

More information

The Haptic Impendance Control through Virtual Environment Force Compensation

The Haptic Impendance Control through Virtual Environment Force Compensation The Haptic Impendance Control through Virtual Environment Force Compensation OCTAVIAN MELINTE Robotics and Mechatronics Department Institute of Solid Mechanicsof the Romanian Academy ROMANIA octavian.melinte@yahoo.com

More information

Development of Multi-fingered Hand for Life-size Humanoid Robots

Development of Multi-fingered Hand for Life-size Humanoid Robots 2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14 April 2007 WeC7.2 Development of Multi-fingered Hand for Life-size Humanoid Robots Kenji KANEKO, Kensuke HARADA, and Fumio

More information

3-Degrees of Freedom Robotic ARM Controller for Various Applications

3-Degrees of Freedom Robotic ARM Controller for Various Applications 3-Degrees of Freedom Robotic ARM Controller for Various Applications Mohd.Maqsood Ali M.Tech Student Department of Electronics and Instrumentation Engineering, VNR Vignana Jyothi Institute of Engineering

More information

ISMCR2004. Abstract. 2. The mechanism of the master-slave arm of Telesar II. 1. Introduction. D21-Page 1

ISMCR2004. Abstract. 2. The mechanism of the master-slave arm of Telesar II. 1. Introduction. D21-Page 1 Development of Multi-D.O.F. Master-Slave Arm with Bilateral Impedance Control for Telexistence Riichiro Tadakuma, Kiyohiro Sogen, Hiroyuki Kajimoto, Naoki Kawakami, and Susumu Tachi 7-3-1 Hongo, Bunkyo-ku,

More information

Introduction To Robotics (Kinematics, Dynamics, and Design)

Introduction To Robotics (Kinematics, Dynamics, and Design) Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 5: Concepts & Defenitions Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN 11365-9567

More information

An Exoskeleton Master Hand for Controlling DLR/HIT Hand

An Exoskeleton Master Hand for Controlling DLR/HIT Hand The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems October 11-15, 2009 St. Louis, USA An Exoskeleton Master Hand for Controlling DLR/HIT Hand Honggen. Fang, Zongwu. Xie, Hong.

More information

Journal of Theoretical and Applied Mechanics, Sofia, 2014, vol. 44, No. 1, pp ROBONAUT 2: MISSION, TECHNOLOGIES, PERSPECTIVES

Journal of Theoretical and Applied Mechanics, Sofia, 2014, vol. 44, No. 1, pp ROBONAUT 2: MISSION, TECHNOLOGIES, PERSPECTIVES Journal of Theoretical and Applied Mechanics, Sofia, 2014, vol. 44, No. 1, pp. 97 102 SCIENTIFIC LIFE DOI: 10.2478/jtam-2014-0006 ROBONAUT 2: MISSION, TECHNOLOGIES, PERSPECTIVES Galia V. Tzvetkova Institute

More information

DESIGN OF A MODULARIZED DUAL-JOINT SERVO CONTROLLER FOR SPACE MANIPULATOR SYSTEM BASED ON FPGA: I-SAIRAS 2012 TURIN, ITALY 4-6 SEPTEMBER 2012

DESIGN OF A MODULARIZED DUAL-JOINT SERVO CONTROLLER FOR SPACE MANIPULATOR SYSTEM BASED ON FPGA: I-SAIRAS 2012 TURIN, ITALY 4-6 SEPTEMBER 2012 DESIGN OF A MODULARIZED DUAL-JOINT SERVO CONTROLLER FOR SPACE MANIPULATOR SYSTEM BASED ON FPGA: I-SAIRAS 2012 TURIN, ITALY 4-6 SEPTEMBER 2012 Wei, N.Z. (1), Sun, H.X. (2), Jia, Q.X. (2), Sun, P. (3), Ye,

More information

Design and Control of an Anthropomorphic Robotic Arm

Design and Control of an Anthropomorphic Robotic Arm Journal Of Industrial Engineering Research ISSN- 2077-4559 Journal home page: http://www.iwnest.com/ijer/ 2016. 2(1): 1-8 RSEARCH ARTICLE Design and Control of an Anthropomorphic Robotic Arm Simon A/L

More information

AUTONOMOUS MOTION CONTROLLED HAND-ARM ROBOTIC SYSTEM

AUTONOMOUS MOTION CONTROLLED HAND-ARM ROBOTIC SYSTEM Autonomous Motion Controlled Hand-Arm Robotic System AUTONOMOUS MOTION CONTROLLED HAND-ARM ROBOTIC SYSTEM NIJI JOHNSON AND P.SIVASANKAR RAJAMANI KSR College of Engineering,Thiruchengode-637215 Abstract:

More information

Mechatronics and Automatic Control Laboratory (MACLAB) University of Genova

Mechatronics and Automatic Control Laboratory (MACLAB) University of Genova Mechatronics and Automatic Control Laboratory (MACLAB) University of Genova Prof. Giorgio Cannata Introduction These notes are a short presentation of the DIST department of the University of Genova (Italy),

More information

The design and making of a humanoid robotic hand

The design and making of a humanoid robotic hand The design and making of a humanoid robotic hand presented by Tian Li Research associate Supervisor s Name: Prof. Nadia Magnenat Thalmann,Prof. Daniel Thalmann & Prof. Jianmin Zheng Project 2: Mixed Society

More information

Small Occupancy Robotic Mechanisms for Endoscopic Surgery

Small Occupancy Robotic Mechanisms for Endoscopic Surgery Small Occupancy Robotic Mechanisms for Endoscopic Surgery Yuki Kobayashi, Shingo Chiyoda, Kouichi Watabe, Masafumi Okada, and Yoshihiko Nakamura Department of Mechano-Informatics, The University of Tokyo,

More information

UNIT VI. Current approaches to programming are classified as into two major categories:

UNIT VI. Current approaches to programming are classified as into two major categories: Unit VI 1 UNIT VI ROBOT PROGRAMMING A robot program may be defined as a path in space to be followed by the manipulator, combined with the peripheral actions that support the work cycle. Peripheral actions

More information

Haptic Tele-Assembly over the Internet

Haptic Tele-Assembly over the Internet Haptic Tele-Assembly over the Internet Sandra Hirche, Bartlomiej Stanczyk, and Martin Buss Institute of Automatic Control Engineering, Technische Universität München D-829 München, Germany, http : //www.lsr.ei.tum.de

More information

Robotic Capture and De-Orbit of a Tumbling and Heavy Target from Low Earth Orbit

Robotic Capture and De-Orbit of a Tumbling and Heavy Target from Low Earth Orbit www.dlr.de Chart 1 Robotic Capture and De-Orbit of a Tumbling and Heavy Target from Low Earth Orbit Steffen Jaekel, R. Lampariello, G. Panin, M. Sagardia, B. Brunner, O. Porges, and E. Kraemer (1) M. Wieser,

More information

AUOTOMATIC PICK AND PLACE ROBOT

AUOTOMATIC PICK AND PLACE ROBOT AUOTOMATIC PICK AND PLACE ROBOT Mr.Kunal Sali 1, Mr. Saiprasad Kolhe 2, Mr.Mayank Paliwal 3 1,2,3 Department of E&TC. Engg, Sandip Foundation, SITRC College, Nashik,(India) ABSTRACT In this paper we deal

More information

Adaptive Humanoid Robot Arm Motion Generation by Evolved Neural Controllers

Adaptive Humanoid Robot Arm Motion Generation by Evolved Neural Controllers Proceedings of the 3 rd International Conference on Mechanical Engineering and Mechatronics Prague, Czech Republic, August 14-15, 2014 Paper No. 170 Adaptive Humanoid Robot Arm Motion Generation by Evolved

More information

Wireless Robust Robots for Application in Hostile Agricultural. environment.

Wireless Robust Robots for Application in Hostile Agricultural. environment. Wireless Robust Robots for Application in Hostile Agricultural Environment A.R. Hirakawa, A.M. Saraiva, C.E. Cugnasca Agricultural Automation Laboratory, Computer Engineering Department Polytechnic School,

More information

Development of Running Robot Based on Charge Coupled Device

Development of Running Robot Based on Charge Coupled Device Development of Running Robot Based on Charge Coupled Device Hongzhang He School of Mechanics, North China Electric Power University, Baoding071003, China. hhzh_ncepu@163.com Abstract Robot technology is

More information

Development of a Walking Support Robot with Velocity-based Mechanical Safety Devices*

Development of a Walking Support Robot with Velocity-based Mechanical Safety Devices* 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November 3-7, 2013. Tokyo, Japan Development of a Walking Support Robot with Velocity-based Mechanical Safety Devices* Yoshihiro

More information

Air Muscle Actuated Low Cost Humanoid Hand

Air Muscle Actuated Low Cost Humanoid Hand 2018 IJSRST Volume 4 Issue 2 Print ISSN: 2395-6011 Online ISSN: 2395-602X Themed Section: Science and Technology Air Muscle Actuated Low Cost Humanoid Hand G. Naveenkumar Department of Mechatronics, Sri

More information

Structure Design of a Feeding Assistant Robot

Structure Design of a Feeding Assistant Robot Structure Design of a Feeding Assistant Robot Chenling Zheng a, Liangchao Hou b and Jianyong Li c Shandong University of Science and Technology, Qingdao 266590, China. a2425614112@qq.com, b 931936225@qq.com,

More information

Development of Multi-Fingered Universal Robot Hand with Torque Limiter Mechanism

Development of Multi-Fingered Universal Robot Hand with Torque Limiter Mechanism 6 Development of Multi-Fingered Universal Robot Hand with Torque Limiter Mechanism Wataru Fukui, Futoshi Kobayashi and Fumio Kojima Kobe University Japan 1. Introduction Today, various industrial robots

More information

Proseminar Roboter und Aktivmedien. Outline of today s lecture. Acknowledgments. Educational robots achievements and challenging

Proseminar Roboter und Aktivmedien. Outline of today s lecture. Acknowledgments. Educational robots achievements and challenging Proseminar Roboter und Aktivmedien Educational robots achievements and challenging Lecturer Lecturer Houxiang Houxiang Zhang Zhang TAMS, TAMS, Department Department of of Informatics Informatics University

More information

JEPPIAAR ENGINEERING COLLEGE

JEPPIAAR ENGINEERING COLLEGE JEPPIAAR ENGINEERING COLLEGE Jeppiaar Nagar, Rajiv Gandhi Salai 600 119 DEPARTMENT OFMECHANICAL ENGINEERING QUESTION BANK VII SEMESTER ME6010 ROBOTICS Regulation 013 JEPPIAAR ENGINEERING COLLEGE Jeppiaar

More information

Laboratory Mini-Projects Summary

Laboratory Mini-Projects Summary ME 4290/5290 Mechanics & Control of Robotic Manipulators Dr. Bob, Fall 2017 Robotics Laboratory Mini-Projects (LMP 1 8) Laboratory Exercises: The laboratory exercises are to be done in teams of two (or

More information

Design of stepper motor position control system based on DSP. Guan Fang Liu a, Hua Wei Li b

Design of stepper motor position control system based on DSP. Guan Fang Liu a, Hua Wei Li b nd International Conference on Machinery, Electronics and Control Simulation (MECS 17) Design of stepper motor position control system based on DSP Guan Fang Liu a, Hua Wei Li b School of Electrical Engineering,

More information

Challenges of Precision Assembly with a Miniaturized Robot

Challenges of Precision Assembly with a Miniaturized Robot Challenges of Precision Assembly with a Miniaturized Robot Arne Burisch, Annika Raatz, and Jürgen Hesselbach Technische Universität Braunschweig, Institute of Machine Tools and Production Technology Langer

More information

Performance Issues in Collaborative Haptic Training

Performance Issues in Collaborative Haptic Training 27 IEEE International Conference on Robotics and Automation Roma, Italy, 1-14 April 27 FrA4.4 Performance Issues in Collaborative Haptic Training Behzad Khademian and Keyvan Hashtrudi-Zaad Abstract This

More information

Kid-Size Humanoid Soccer Robot Design by TKU Team

Kid-Size Humanoid Soccer Robot Design by TKU Team Kid-Size Humanoid Soccer Robot Design by TKU Team Ching-Chang Wong, Kai-Hsiang Huang, Yueh-Yang Hu, and Hsiang-Min Chan Department of Electrical Engineering, Tamkang University Tamsui, Taipei, Taiwan E-mail:

More information

Robot Task-Level Programming Language and Simulation

Robot Task-Level Programming Language and Simulation Robot Task-Level Programming Language and Simulation M. Samaka Abstract This paper presents the development of a software application for Off-line robot task programming and simulation. Such application

More information

Team Description Paper: HuroEvolution Humanoid Robot for Robocup 2010 Humanoid League

Team Description Paper: HuroEvolution Humanoid Robot for Robocup 2010 Humanoid League Team Description Paper: HuroEvolution Humanoid Robot for Robocup 2010 Humanoid League Chung-Hsien Kuo 1, Hung-Chyun Chou 1, Jui-Chou Chung 1, Po-Chung Chia 2, Shou-Wei Chi 1, Yu-De Lien 1 1 Department

More information

Introduction to robotics. Md. Ferdous Alam, Lecturer, MEE, SUST

Introduction to robotics. Md. Ferdous Alam, Lecturer, MEE, SUST Introduction to robotics Md. Ferdous Alam, Lecturer, MEE, SUST Hello class! Let s watch a video! So, what do you think? It s cool, isn t it? The dedication is not! A brief history The first digital and

More information

DC motor control using arduino

DC motor control using arduino DC motor control using arduino 1) Introduction: First we need to differentiate between DC motor and DC generator and where we can use it in this experiment. What is the main different between the DC-motor,

More information

Development of a telepresence agent

Development of a telepresence agent Author: Chung-Chen Tsai, Yeh-Liang Hsu (2001-04-06); recommended: Yeh-Liang Hsu (2001-04-06); last updated: Yeh-Liang Hsu (2004-03-23). Note: This paper was first presented at. The revised paper was presented

More information

PHYSICAL ROBOTS PROGRAMMING BY IMITATION USING VIRTUAL ROBOT PROTOTYPES

PHYSICAL ROBOTS PROGRAMMING BY IMITATION USING VIRTUAL ROBOT PROTOTYPES Bulletin of the Transilvania University of Braşov Series I: Engineering Sciences Vol. 6 (55) No. 2-2013 PHYSICAL ROBOTS PROGRAMMING BY IMITATION USING VIRTUAL ROBOT PROTOTYPES A. FRATU 1 M. FRATU 2 Abstract:

More information

Development and Testing of a Telemanipulation System with Arm and Hand Motion

Development and Testing of a Telemanipulation System with Arm and Hand Motion Development and Testing of a Telemanipulation System with Arm and Hand Motion Michael L. Turner, Ryan P. Findley, Weston B. Griffin, Mark R. Cutkosky and Daniel H. Gomez Dexterous Manipulation Laboratory

More information

SRV02-Series Rotary Experiment # 3. Ball & Beam. Student Handout

SRV02-Series Rotary Experiment # 3. Ball & Beam. Student Handout SRV02-Series Rotary Experiment # 3 Ball & Beam Student Handout SRV02-Series Rotary Experiment # 3 Ball & Beam Student Handout 1. Objectives The objective in this experiment is to design a controller for

More information

Mechatronics Educational Robots Robko PHOENIX

Mechatronics Educational Robots Robko PHOENIX 68 MECHATRONICS EDUCATIONAL ROBOTS ROBKO PHOENIX Mechatronics Educational Robots Robko PHOENIX N. Chivarov*, N. Shivarov* and P. Kopacek** *Central Laboratory of Mechatronics and Instrumentation, Bloc

More information

SRV02-Series. Rotary Servo Plant. User Manual

SRV02-Series. Rotary Servo Plant. User Manual SRV02-Series Rotary Servo Plant User Manual SRV02-(E;EHR)(T) Rotary Servo Plant User Manual 1. Description The plant consists of a DC motor in a solid aluminum frame. The motor is equipped with a gearbox.

More information

Robotics. Lecturer: Dr. Saeed Shiry Ghidary

Robotics. Lecturer: Dr. Saeed Shiry Ghidary Robotics Lecturer: Dr. Saeed Shiry Ghidary Email: autrobotics@yahoo.com Outline of Course We will study fundamental algorithms for robotics with: Introduction to industrial robots and Particular emphasis

More information

Advanced Android Controlled Pick and Place Robotic ARM Using Bluetooth Technology

Advanced Android Controlled Pick and Place Robotic ARM Using Bluetooth Technology ISSN No: 2454-9614 Advanced Android Controlled Pick and Place Robotic ARM Using Bluetooth Technology S.Dineshkumar, M.Satheeswari, K.Moulidharan, R.Muthukumar Electronics and Communication Engineering,

More information

DESIGN OF A TWO DIMENSIONAL MICROPROCESSOR BASED PARABOLIC ANTENNA CONTROLLER

DESIGN OF A TWO DIMENSIONAL MICROPROCESSOR BASED PARABOLIC ANTENNA CONTROLLER DESIGN OF A TWO DIMENSIONAL MICROPROCESSOR BASED PARABOLIC ANTENNA CONTROLLER Veysel Silindir, Haluk Gözde, Gazi University, Electrical And Electronics Engineering Department, Ankara, Turkey 4 th Main

More information

Advanced Digital Motion Control Using SERCOS-based Torque Drives

Advanced Digital Motion Control Using SERCOS-based Torque Drives Advanced Digital Motion Using SERCOS-based Torque Drives Ying-Yu Tzou, Andes Yang, Cheng-Chang Hsieh, and Po-Ching Chen Power Electronics & Motion Lab. Dept. of Electrical and Engineering National Chiao

More information

Robotics: Evolution, Technology and Applications

Robotics: Evolution, Technology and Applications Robotics: Evolution, Technology and Applications By: Dr. Hamid D. Taghirad Head of Control Group, and Department of Electrical Engineering K.N. Toosi University of Tech. Department of Electrical Engineering

More information

On Application of Virtual Fixtures as an Aid for Telemanipulation and Training

On Application of Virtual Fixtures as an Aid for Telemanipulation and Training On Application of Virtual Fixtures as an Aid for Telemanipulation and Training Shahram Payandeh and Zoran Stanisic Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University

More information

Combot: Compliant Climbing Robotic Platform with Transitioning Capability and Payload Capacity

Combot: Compliant Climbing Robotic Platform with Transitioning Capability and Payload Capacity 2012 IEEE International Conference on Robotics and Automation RiverCentre, Saint Paul, Minnesota, USA May 14-18, 2012 Combot: Compliant Climbing Robotic Platform with Transitioning Capability and Payload

More information

Parallel Robot Projects at Ohio University

Parallel Robot Projects at Ohio University Parallel Robot Projects at Ohio University Robert L. Williams II with graduate students: John Hall, Brian Hopkins, Atul Joshi, Josh Collins, Jigar Vadia, Dana Poling, and Ron Nyzen And Special Thanks to:

More information

Los Alamos. DOE Office of Scientific and Technical Information LA-U R-9&%

Los Alamos. DOE Office of Scientific and Technical Information LA-U R-9&% LA-U R-9&% Title: Author(s): Submitted M: Virtual Reality and Telepresence Control of Robots Used in Hazardous Environments Lawrence E. Bronisz, ESA-MT Pete C. Pittman, ESA-MT DOE Office of Scientific

More information

The Humanoid Robot ARMAR: Design and Control

The Humanoid Robot ARMAR: Design and Control The Humanoid Robot ARMAR: Design and Control Tamim Asfour, Karsten Berns, and Rüdiger Dillmann Forschungszentrum Informatik Karlsruhe, Haid-und-Neu-Str. 10-14 D-76131 Karlsruhe, Germany asfour,dillmann

More information

System Overview of The Humanoid Robot Blackmann

System Overview of The Humanoid Robot Blackmann stem Overview of The Humanoid Robot Blackmann JIAN WANG, TAO SHENG, JIANWEN WANG and HONGXU MA College of Mechtronic and Automation National University of Defense Technology Changsha, Hunan Province THE

More information

A Do-and-See Approach for Learning Mechatronics Concepts

A Do-and-See Approach for Learning Mechatronics Concepts Proceedings of the 5 th International Conference of Control, Dynamic Systems, and Robotics (CDSR'18) Niagara Falls, Canada June 7 9, 2018 Paper No. 124 DOI: 10.11159/cdsr18.124 A Do-and-See Approach for

More information

Introduction to Robotics in CIM Systems

Introduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems Fifth Edition James A. Rehg The Pennsylvania State University Altoona, Pennsylvania Prentice Hall Upper Saddle River, New Jersey Columbus, Ohio Contents Introduction

More information

Page ENSC387 - Introduction to Electro-Mechanical Sensors and Actuators: Simon Fraser University Engineering Science

Page ENSC387 - Introduction to Electro-Mechanical Sensors and Actuators: Simon Fraser University Engineering Science Motor Driver and Feedback Control: The feedback control system of a dc motor typically consists of a microcontroller, which provides drive commands (rotation and direction) to the driver. The driver is

More information

Development of Novel Robots with Modular Methodology

Development of Novel Robots with Modular Methodology The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems October 11-15, 2009 St. Louis, USA Development of Novel Robots with Modular Methodology Yisheng Guan, Li, Jiang, Xianmin Zhang,

More information

Real-Time Bilateral Control for an Internet-Based Telerobotic System

Real-Time Bilateral Control for an Internet-Based Telerobotic System 708 Real-Time Bilateral Control for an Internet-Based Telerobotic System Jahng-Hyon PARK, Joonyoung PARK and Seungjae MOON There is a growing tendency to use the Internet as the transmission medium of

More information

Six-degree-of-freedom robot design

Six-degree-of-freedom robot design Six-degree-of-freedom robot design Zhendong Guan a, Xiaobin Gong b, Shichang Yan c School of Shandong University of Science and Technology, Qingdao 266590, China a654201141@qq.com, b 528173250@qq.com,

More information

Interfacing dspace to the Quanser Rotary Series of Experiments (SRV02ET)

Interfacing dspace to the Quanser Rotary Series of Experiments (SRV02ET) Interfacing dspace to the Quanser Rotary Series of Experiments (SRV02ET) Nicanor Quijano and Kevin M. Passino The Ohio State University, Department of Electrical Engineering, 2015 Neil Avenue, Columbus

More information

Multi-robot Formation Control Based on Leader-follower Method

Multi-robot Formation Control Based on Leader-follower Method Journal of Computers Vol. 29 No. 2, 2018, pp. 233-240 doi:10.3966/199115992018042902022 Multi-robot Formation Control Based on Leader-follower Method Xibao Wu 1*, Wenbai Chen 1, Fangfang Ji 1, Jixing Ye

More information

ACTUATORS AND SENSORS. Joint actuating system. Servomotors. Sensors

ACTUATORS AND SENSORS. Joint actuating system. Servomotors. Sensors ACTUATORS AND SENSORS Joint actuating system Servomotors Sensors JOINT ACTUATING SYSTEM Transmissions Joint motion low speeds high torques Spur gears change axis of rotation and/or translate application

More information

A Thirteen Degree of Freedom Tele-Robotic Surgical ARM System with Efficient Tactile Sensors in the Manipulators

A Thirteen Degree of Freedom Tele-Robotic Surgical ARM System with Efficient Tactile Sensors in the Manipulators International Conference on Systems, Science, Control, Communication, Engineering and Technology 36 International Conference on Systems, Science, Control, Communication, Engineering and Technology 2016

More information

Chapter 1 Introduction

Chapter 1 Introduction Chapter 1 Introduction It is appropriate to begin the textbook on robotics with the definition of the industrial robot manipulator as given by the ISO 8373 standard. An industrial robot manipulator is

More information

Optimization of Robot Arm Motion in Human Environment

Optimization of Robot Arm Motion in Human Environment Optimization of Robot Arm Motion in Human Environment Zulkifli Mohamed 1, Mitsuki Kitani 2, Genci Capi 3 123 Dept. of Electrical and Electronic System Engineering, Faculty of Engineering University of

More information

Design and Controll of Haptic Glove with McKibben Pneumatic Muscle

Design and Controll of Haptic Glove with McKibben Pneumatic Muscle XXVIII. ASR '2003 Seminar, Instruments and Control, Ostrava, May 6, 2003 173 Design and Controll of Haptic Glove with McKibben Pneumatic Muscle KOPEČNÝ, Lukáš Ing., Department of Control and Instrumentation,

More information

The Design of key mechanical functions for a super multi-dof and extendable Space Robotic Arm

The Design of key mechanical functions for a super multi-dof and extendable Space Robotic Arm The Design of key mechanical functions for a super multi-dof and extendable Space Robotic Arm Kent Yoshikawa*, Yuichiro Tanaka**, Mitsushige Oda***, Hiroki Nakanishi**** *Tokyo Institute of Technology,

More information

Touching and Walking: Issues in Haptic Interface

Touching and Walking: Issues in Haptic Interface Touching and Walking: Issues in Haptic Interface Hiroo Iwata 1 1 Institute of Engineering Mechanics and Systems, University of Tsukuba, 80, Tsukuba, 305-8573 Japan iwata@kz.tsukuba.ac.jp Abstract. This

More information

ServoStep technology

ServoStep technology What means "ServoStep" "ServoStep" in Ever Elettronica's strategy resumes seven keypoints for quality and performances in motion control applications: Stepping motors Fast Forward Feed Full Digital Drive

More information

Team Description Paper: HuroEvolution Humanoid Robot for Robocup 2014 Humanoid League

Team Description Paper: HuroEvolution Humanoid Robot for Robocup 2014 Humanoid League Team Description Paper: HuroEvolution Humanoid Robot for Robocup 2014 Humanoid League Chung-Hsien Kuo, Yu-Cheng Kuo, Yu-Ping Shen, Chen-Yun Kuo, Yi-Tseng Lin 1 Department of Electrical Egineering, National

More information

PICK AND PLACE HUMANOID ROBOT USING RASPBERRY PI AND ARDUINO FOR INDUSTRIAL APPLICATIONS

PICK AND PLACE HUMANOID ROBOT USING RASPBERRY PI AND ARDUINO FOR INDUSTRIAL APPLICATIONS PICK AND PLACE HUMANOID ROBOT USING RASPBERRY PI AND ARDUINO FOR INDUSTRIAL APPLICATIONS Bernard Franklin 1, Sachin.P 2, Jagadish.S 3, Shaista Noor 4, Rajashekhar C. Biradar 5 1,2,3,4,5 School of Electronics

More information

Design of Joint Controller Circuit for PA10 Robot Arm

Design of Joint Controller Circuit for PA10 Robot Arm Design of Joint Controller Circuit for PA10 Robot Arm Sereiratha Phal and Manop Wongsaisuwan Department of Electrical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok, 10330, Thailand.

More information

Information and Program

Information and Program Robotics 1 Information and Program Prof. Alessandro De Luca Robotics 1 1 Robotics 1 2017/18! First semester (12 weeks)! Monday, October 2, 2017 Monday, December 18, 2017! Courses of study (with this course

More information

The DLR On-Orbit Servicing Testbed

The DLR On-Orbit Servicing Testbed The DLR On-Orbit Servicing Testbed J. Artigas, R. Lampariello, B. Brunner, M. Stelzer, C. Borst, K. Landzettel, G. Hirzinger, A. Albu-Schäffer Robotics and Mechatronics Center, DLR VR-OOS Workshop 2012

More information