DocumentCode
2631143
Title
Using COTS to Construct a High Performance Robot Arm
Author
Smith, Christian ; Christensen, Henrik I.
Author_Institution
Centre for Autonomous Syst., R. Inst. of Technol., Stockholm
fYear
2007
fDate
10-14 April 2007
Firstpage
4056
Lastpage
4063
Abstract
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.
Keywords
manipulator dynamics; CAN bus communication; PowerCube actuator modules; ball catching experiment; commercial off-the-shelf components; high performance robot arm; high performance robotic manipulator; technical specifications; Acceleration; Cameras; Control systems; End effectors; Gravity; Humans; Kinematics; Manipulators; Robotics and automation; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.364102
Filename
4209720
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