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Robot Manipulators Constructing a High-Performance Robot from Commercially Available Parts
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. (CAS)ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA.
2009 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 16, no 4, 75-83 p.Article in journal (Refereed) Published
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 , 2009. Vol. 16, no 4, 75-83 p.
Keyword [en]
Ball catching, robot design, teleoperation
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-32681DOI: 10.1109/MRA.2009.934825ISI: 000272730600013OAI: oai:DiVA.org:kth-32681DiVA: diva2:411475
Note
QC 20110418Available from: 2011-09-26 Created: 2011-04-18 Last updated: 2017-12-11Bibliographically approved

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Smith, ChristianChristensen, Henrik I.
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