Towards a More Robust Non-Rigid Robotic Joint
The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented an...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-10-01
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| Series: | Applied System Innovation |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2571-5577/3/4/45 |
| _version_ | 1797550410966237184 |
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| author | Vítor H. Pinto José Gonçalves Paulo Costa |
| author_facet | Vítor H. Pinto José Gonçalves Paulo Costa |
| author_sort | Vítor H. Pinto |
| collection | DOAJ |
| description | The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable. |
| first_indexed | 2024-03-10T15:28:53Z |
| format | Article |
| id | doaj.art-b1403a6a5520403abd24699ff38be8a2 |
| institution | Directory Open Access Journal |
| issn | 2571-5577 |
| language | English |
| last_indexed | 2024-03-10T15:28:53Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied System Innovation |
| spelling | doaj.art-b1403a6a5520403abd24699ff38be8a22023-11-20T17:50:02ZengMDPI AGApplied System Innovation2571-55772020-10-01344510.3390/asi3040045Towards a More Robust Non-Rigid Robotic JointVítor H. Pinto0José Gonçalves1Paulo Costa2FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, PortugalINESC TEC—Institute for Systems and Computer Engineering, Technology and Science, CRIIS—Centre for Robotics in Industry and Intelligent Systems, Campus of FEUP, Rua Dr. Roberto Frias, 4200-465 Porto, PortugalFEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, PortugalThe following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable.https://www.mdpi.com/2571-5577/3/4/45non-rigid jointmodelingphysical designcompliant controlrobot controldesign for experiments |
| spellingShingle | Vítor H. Pinto José Gonçalves Paulo Costa Towards a More Robust Non-Rigid Robotic Joint Applied System Innovation non-rigid joint modeling physical design compliant control robot control design for experiments |
| title | Towards a More Robust Non-Rigid Robotic Joint |
| title_full | Towards a More Robust Non-Rigid Robotic Joint |
| title_fullStr | Towards a More Robust Non-Rigid Robotic Joint |
| title_full_unstemmed | Towards a More Robust Non-Rigid Robotic Joint |
| title_short | Towards a More Robust Non-Rigid Robotic Joint |
| title_sort | towards a more robust non rigid robotic joint |
| topic | non-rigid joint modeling physical design compliant control robot control design for experiments |
| url | https://www.mdpi.com/2571-5577/3/4/45 |
| work_keys_str_mv | AT vitorhpinto towardsamorerobustnonrigidroboticjoint AT josegoncalves towardsamorerobustnonrigidroboticjoint AT paulocosta towardsamorerobustnonrigidroboticjoint |