32,022 research outputs found
CAD-based robotics
Journal ArticleWe describe an approach which facilitates and makes explicit the organization of the knowledge necessary to map robotic system requirements onto an appropriate assembly of algorithms, processors, sensor, and actuators. In order to achieve this mapping, several kinds of knowledge are needed. In this paper, we describe a system under development which exploits the Computer Aided Design (CAD) database in order to synthesize
Direct off-line robot programming via a common CAD package
This paper focuses on intuitive and direct off-line robot programming from a
CAD drawing running on a common 3-D CAD package. It explores the most suitable
way to represent robot motion in a CAD drawing, how to automatically extract
such motion data from the drawing, make the mapping of data from the virtual
(CAD model) to the real environment and the process of automatic generation of
robot paths/programs. In summary, this study aims to present a novel CAD-based
robot programming system accessible to anyone with basic knowledge of CAD and
robotics. Experiments on different manipulation tasks show the effectiveness
and versatility of the proposed approach
CAD-based approach for identification of elasto-static parameters of robotic manipulators
The paper presents an approach for the identification of elasto-static
parameters of a robotic manipulator using the virtual experiments in a CAD
environment. It is based on the numerical processing of the data extracted from
the finite element analysis results, which are obtained for isolated
manipulator links. This approach allows to obtain the desired stiffness
matrices taking into account the complex shape of the links, couplings between
rotational/translational deflections and particularities of the joints
connecting adjacent links. These matrices are integral parts of the manipulator
lumped stiffness model that are widely used in robotics due to its high
computational efficiency. To improve the identification accuracy,
recommendations for optimal settings of the virtual experiments are given, as
well as relevant statistical processing techniques are proposed. Efficiency of
the developed approach is confirmed by a simulation study that shows that the
accuracy in evaluating the stiffness matrix elements is about 0.1%.Comment: arXiv admin note: substantial text overlap with arXiv:0909.146
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