Implementation of Humanoid Robot Arm Based on SERCOS Network

2008 ◽  
Vol 12 (6) ◽  
pp. 503-508
Author(s):  
Yongseon Moon ◽  
◽  
Nak Yong Ko ◽  
Dong Jin Seo ◽  
Eunju Kim ◽  
...  
Keyword(s):  
Real Time ◽  
Communication System ◽  
Humanoid Robot ◽  
Robot Arm ◽  
Joint Design

Designing, implementing and evaluating the performance of a humanoid robot arm, we verified its applicability and effectiveness based on the Serial Real-Time Communication System (SERCOS), which follows the concept of modularization corresponding to projected research. We also proposed single joint design modular for humanoid robot arm systems.

scholarly journals Balance Maintenance in High-Speed Motion of Humanoid Robot Arm-Based on the 6D Constraints of Momentum Change Rate

2014 ◽  
Vol 2014 ◽  
pp. 1-13
Author(s):  
Da-song Zhang ◽  
Rong Xiong ◽  
Jun Wu ◽  
Jian Chu
Keyword(s):  
Real Time ◽  
High Speed ◽  
Humanoid Robot ◽  
Time Derivative ◽  
Angular Acceleration ◽  
Total Momentum ◽  
Fundamental Relation ◽  
Robot Arm ◽  
Change Rate ◽  
Momentum Change

Based on the 6D constraints of momentum change rate (CMCR), this paper puts forward a real-time and full balance maintenance method for the humanoid robot during high-speed movement of its 7-DOF arm. First, the total momentum formula for the robot’s two arms is given and the momentum change rate is defined by the time derivative of the total momentum. The author also illustrates the idea of full balance maintenance and analyzes the physical meaning of 6D CMCR and its fundamental relation to full balance maintenance. Moreover, discretization and optimization solution of CMCR has been provided with the motion constraint of the auxiliary arm’s joint, and the solving algorithm is optimized. The simulation results have shown the validity and generality of the proposed method on the full balance maintenance in the 6 DOFs of the robot body under 6D CMCR. This method ensures 6D dynamics balance performance and increases abundant ZMP stability margin. The resulting motion of the auxiliary arm has large abundance in joint space, and the angular velocity and the angular acceleration of these joints lie within the predefined limits. The proposed algorithm also has good real-time performance.

Sensorless External Force Detection Method for Robot Arm Based on Error Compensation Using BP Neural Network

2019 ◽  
Vol 16 (05) ◽  
pp. 1950024
Author(s):  
Guoyu Zuo ◽  
Yongkang Qiu ◽  
Yuelei Liu
Keyword(s):  
Neural Network ◽  
Real Time ◽  
External Force ◽  
Humanoid Robot ◽  
Detection Method ◽  
Joint Torque ◽  
Robot Arm ◽  
Force Detection ◽  
Detection Model ◽  
External Force Detection

This paper proposes an external force detection method for humanoid robot arm without using joint torque sensors, which can detect the external force of the joint space in real time during the operation of the robot. We first analyzed the structure of the humanoid robot arm we designed, and then established the external force detection model of the robot arm based on robot dynamics and motor dynamics. Subsequently, analyses were conducted on the error of the detection model and the dynamic model error of the robot arm is compensated by using the artificial neural network method to obtain more accurate external force value for the robot arm. In experiment, the accuracy test and the collision test were performed on the detected extern forces of the robot arm. The results show that the method can effectively improve the detection accuracy of the robot arm, and the robot arm can realize the real-time collision detection during its static and running states, which can ensure the safe operation of the robot.

DESIGN AND SIMULATION OF A 1-DOF ANTHROPOMORPHIC CLUTCHED ARM FOR HUMANOID ROBOTS

2010 ◽  
Vol 07 (01) ◽  
pp. 157-182 ◽  
Author(s):  
HAO GU ◽  
MARCO CECCARELLI ◽  
GIUSEPPE CARBONE
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Robot Arm ◽  
Dynamic Simulations ◽  
Suitable Combination ◽  
User Friendly

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

scholarly journals Assessments of Real-Time Communications over TSN Automotive Networks

Electronics ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 556
Author(s):  
Lucia Lo Bello ◽  
Gaetano Patti ◽  
Giancarlo Vasta
Keyword(s):  
Performance Evaluation ◽  
Real Time ◽  
Communication System ◽  
Traffic Management ◽  
Mac Layer ◽  
Automated Driving ◽  
Real Time Traffic ◽  
Management Scheme ◽  
Event Driven ◽  
Automotive Networks

The IEEE 802.1Q-2018 standard embeds in Ethernet bridges novel features that are very important for automated driving, such as the support for time-driven communications. However, cars move in a world where unpredictable events may occur and determine unforeseen situations. To properly react to such situations, the in-car communication system has to support event-driven transmissions with very low and bounded delays. This work provides the performance evaluation of EDSched, a traffic management scheme for IEEE 802.1Q bridges and end nodes that introduces explicit support for event-driven real-time traffic. EDSched works at the MAC layer and builds upon the mechanisms defined in the IEEE 802.1Q-2018 standard.

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