High precision redundant robotic manipulator
- Mountain View, CA
A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.
- Research Organization:
- Lawrence Livermore National Laboratory (LLNL), Livermore, CA (United States)
- DOE Contract Number:
- W-7405-ENG-48
- Assignee:
- Regents of University of California (Oakland, CA)
- Patent Number(s):
- US 5811951
- OSTI ID:
- 871860
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
redundant
robotic
manipulator
overcoming
contents
imposed
obstacles
highly
congested
space
embodiment
degrees
freedom
seven
degreed
embodiments
utilize
selective
compliant
assembly
robot
arm
scara
configuration
provide
stiffness
vertical
plane
horizontal
degree
utilizes
kinematic
redundancy
capability
avoiding
lie
base
effector
link
additional
added
wrist
pitch
yaw
roll
revolute
joints
harmonic
gear
coupled
electric
motor
introduced
properly
designed
based
servo
controllers
repeatability
10
microns
horizontal plane
electric motor
robot arm
robotic manipulator
servo control
seven degrees
redundant robotic
vertical plane
seven degree
precision redundant
kinematic redundancy
designed based
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