Towards a more robust non-rigid robotic joint

Detalhes bibliográficos
Autor(a) principal: Pinto, Vítor H.
Data de Publicação: 2020
Outros Autores: Gonçalves, José, Costa, Paulo Gomes da
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10198/24388
Resumo: 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.
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spelling Towards a more robust non-rigid robotic jointNon-rigid jointModelingPhysical designCompliant controlRobot controlDesign for experimentsMechanical power transmissionThe 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.Biblioteca Digital do IPBPinto, Vítor H.Gonçalves, JoséCosta, Paulo Gomes da2021-11-24T10:12:28Z20202020-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10198/24388engPinto, Vítor H.; Gonçalves, José; Costa, Paulo (2020). Towards a more robust non-rigid robotic joint. Applied System Innovation. ISSN 2571-5577. 3:4, p. 1-182571-557710.3390/asi3040045info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-21T10:54:21Zoai:bibliotecadigital.ipb.pt:10198/24388Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:15:09.229577Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Towards a more robust non-rigid robotic joint
title Towards a more robust non-rigid robotic joint
spellingShingle Towards a more robust non-rigid robotic joint
Pinto, Vítor H.
Non-rigid joint
Modeling
Physical design
Compliant control
Robot control
Design for experiments
Mechanical power transmission
title_short 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_sort Towards a more robust non-rigid robotic joint
author Pinto, Vítor H.
author_facet Pinto, Vítor H.
Gonçalves, José
Costa, Paulo Gomes da
author_role author
author2 Gonçalves, José
Costa, Paulo Gomes da
author2_role author
author
dc.contributor.none.fl_str_mv Biblioteca Digital do IPB
dc.contributor.author.fl_str_mv Pinto, Vítor H.
Gonçalves, José
Costa, Paulo Gomes da
dc.subject.por.fl_str_mv Non-rigid joint
Modeling
Physical design
Compliant control
Robot control
Design for experiments
Mechanical power transmission
topic Non-rigid joint
Modeling
Physical design
Compliant control
Robot control
Design for experiments
Mechanical power transmission
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.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-01-01T00:00:00Z
2021-11-24T10:12:28Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10198/24388
url http://hdl.handle.net/10198/24388
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Pinto, Vítor H.; Gonçalves, José; Costa, Paulo (2020). Towards a more robust non-rigid robotic joint. Applied System Innovation. ISSN 2571-5577. 3:4, p. 1-18
2571-5577
10.3390/asi3040045
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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