A direct-drive robotic manipulator (CMU DD Arm) is being developed at Carnegie-Mellon University. This paper describes the design concept and theory of this new mechanical arm based on the direct-drive method using rare-earth DC torque motors. Because these motors have high torque, light weight and compact size, we can construct robots with far better performance than those presently available....

improvement in braking performance and vehicle stability can be achieved through the use of braking systems whose brake force distribution is variable. electronic braking force distribution has an important and serious role in the vehicle stopping distance and stability. in this paper a new approach will be presented to achieve the braking force distribution strategy for articulated vehicles. f...

This paper describes the development of a vision-only intelligent interface for dexterous robots capable of tracking operator motions, analyzing trajectory feasibility, and providf6g visual feedback to the operator. This system analyse3Jhe operator’s arm motion for safety, and then converts at into trajectory commands for a mechanical arm. Potentially dangerous situations, such as singularity a...

A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of ...

In this paper, we use a calculation path technique based on the configuration space in the case of an articulated robot of two degrees of freedom. We propose the use of artificial potential fields to represent the configuration space and the use of techniques of artificial intelligence like A* and D* to search a free collision path into the configuration space. This combination of techniques ca...