There is a trend in robotics towards the use of backdrivable actuators due to multiple reasons. One of them, is the need of sharing the environment with humans. Such a robot needs flexibility to adapt the differences between real environmental…
Enrique del Sol – Robotics, Mechatronics & Control Research
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Blog Archives
Backdrivability
Tagged with: Backdrivability, Backdrivable, control, Force Control, Gearbox, Gears, Robotics, teleoperation
Posted in Robotics
Posted in Robotics
Notes on encoder resolution for velocity control of motors
The simplest velocity estimation method is the Euler approximation that takes the difference of two sampling positions divided by the sampling period. Typically the position measurements are taken with encoders or resolvers which contain stochastic errors which result in enormous…
Tagged with: Encoders, Filter, Kalman, Resolution, Resolvers, Robotics, Robots, teleoperation, Velovity
Posted in Actuators, Robotic devices, Robotics
Posted in Actuators, Robotic devices, Robotics
Motor Selection for Robots (I)
Analise the correct parameters that must be taken into account when selecting a motor is crucial for the success of the application.
Tagged with: Actuators, Couplings, Feedback sensors, Gears, Motor, Motor Parameters, Reflected Inertia, Requirements, Robotics, selection, Trade-off
Posted in Actuators, Robotics
Posted in Actuators, Robotics
Upgrading of the Prusa i3 X carriage and extruder support
Tagged with: 3D printer, 3D printing, extruder, improvements, Prusa i3, RepRap, Robotics, Semitronics, Waver, X-carriage
Posted in 3D printing, Robotics
Posted in 3D printing, Robotics
Dynamic modelling of robots with rigid links (II)
Robots with closed loops This is the second post about robot modelling. In it I explain the modelling of robots with closed loops. It is common of several manipulators, especially those ones with bigger payloads, to include a closed loop in the…
Tagged with: closed loops robots, Dynamic modelling, Robotics, Roy Featherstone, spanning tree
Posted in Robot Dynamics, Robotics
Posted in Robot Dynamics, Robotics
Dynamic modelling of robots with rigid links (I)
Defining the dynamic model The conventional robotics equation describing the inner forces (1) of a kinematic chain of rigid forces in the absence of external forces can be obtained by employing any established algorithm, e.g. Newton-Euler iterative method or the…
Tagged with: links, model, modelling, rigid, Robot Dynamics, Robotics
Posted in Robot Dynamics, Robotics, Uncategorized
Posted in Robot Dynamics, Robotics, Uncategorized
Master-Slave Manipulator A100 Telerob (Wälischmiller)
Upgraded X-carriage and extruder V1 (Complete layout)
Figure 7. Improved X-Carriage
Dexter Manipulator manufactured by Oxford Technologies Ltd.
Olympus videoscope.
HoneyBee pipe inspection robot
ABB robot with a closed loop.
Robotics & Mechatronics explanatory diagram including the involved areas such as: mechanical design, electronics, control systems and artificial intelligence.
HoneyBee pipe inspection robot
Kraft GRIPS hydraulic manipulator with force feedback
RE2 EDO Robot
Friction behaviour
ABB IRB 2400
Prosthetic Hand
ATI Gamma 6-axis force torque transducer
Spiral Bevel Gears
Cable Capstan Drives
Types of radiation
FlexiForce foil sensor.
Honeywell FSS1500NSB force sensor.
