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System, method and computer program for autonomously emulating robot manipulators of continuously-varying configurations
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology. Institute for Aerospace Studies, University of Toronto.
Space Mechatronics Group, Institute for Aerospace Studies, University of Toronto.
(English)Patent (Other (popular science, discussion, etc.))
Abstract [en]

The invention is a modular and autonomously reconfigurable manipulator system which introduces a new dimension to the versatility of robot manipulation for diverse tasks. The hardware component is a redundant mechanism which can lock any number of its joints at any relative position to form a particular configuration with a certain number of degrees of freedom and specific values for kinematic, dynamic and control parameters, optimum for a given task to be performed. The process of identifying the optimum configuration for a given task and implementing it on the manipulator is done autonomously through the system software. Therefore, no manual interaction is required to form a new configuration most suitable for a given task. The kinematic, dynamic and control parameters of the system can vary continuously enabling the manipulator to form virtually an infinite number of configurations.

National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-36864Local ID: 6b7d6171-c07b-43b0-9db5-4a002c1a3c6dOAI: oai:DiVA.org:ltu-36864DiVA: diva2:1010311
Patent
US US20140222198 A1 (2014-08-07)
Note

Upprättat; 2014; 20150227 (ninhul)

Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-09-26Bibliographically approved

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