HapticV1, PascalFrancis, Curation, bibRecord, 000733

The harmonious robot

Identifieur interne : 000733 ( PascalFrancis/Curation ); précédent : 000732; suivant : 000734

The harmonious robot

Auteurs : Brian Rooks

Source :

Industrial robot [ 0143-991X ] ; 2006.

RBID : Pascal:06-0222884

Descripteurs français

Pascal (Inist)
- Robotique, Homme, Commande mouvement, Commande couple, Commande force, Développement logiciel, Relation homme machine, Bras, Manipulateur, Câble, Jeu mécanique, Frottement, Inertie, Boucle ouverte, Redondance, Poignet, Flux énergétique, Problème inverse, Cinématique, Flux puissance, Zéro transmission.
Wicri :
- topic : Robotique, Homme.

English descriptors

KwdEn :
- Arm, Cable, Energy flow, Force control, Friction, Human, Inertia, Inverse problem, Kinematics, Man machine relation, Manipulator, Mechanical clearance, Motion control, Open loop, Power flow, Redundancy, Robotics, Software development, Torque control, Transmission zero, Wrist.

Abstract

Purpose - To describe the design methodology and human-centre functionality of the whole arm manipulator (WAM) developed originally at MIT and brought to commercial fruition by Barrett Technology. Design/methodology/approach - The WAM arm is driven by cable-and-cylinder transmissions, which uniquely exhibits zero backlash with low friction and low inertia, endowing the WAM with good open-loop "backdrivability". Two key benefits of the high backdrivability are: motion control through joint torque control, which enables the intrinsic sensing of forces over the whole arm and makes it inherently safe to humans; operation directly in the Cartesian domain without the need for inverse kinematics calculations, providing very rapid responsiveness as demonstrated in the "baseball robot" of Tokyo University. Another benefit of the WAM is its kinematic redundancy through the 4-dof (degrees-of-freedom) main axes (7-dof with the wrist). Recent major advances in the WAM include the "puck", the world's smallest fully-featured servo-controller that eliminates the need for an external controller cabinet, and a safety circuit that limits, by a set amount, the power flow from the WAM to a person or object while not inhibiting the reverse from human to arm. The WAM's intrinsic force control has allowed the development of software-defined haptic walls, which are being exploited by partners such as the CMU (Carnegie Mellon University) Robotics Institute, in patient rehabilitation, and Mako Surgical, for use in joint surgery. Findings - The Barrett WAM's good open-loop backdrivability has initiated the development of novel human-centred robot applications that will expand the use of robots outside the factory and into human-inhabited areas. Originality/value - Presents the design methodology, features and applications of the Barrett WAM human-centred robot.

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A02	`01`			`@0 IDRBAT`
A03		`1`		`@0 Ind. rob.`
A05				`@2 33`
A06				`@2 2`
A08	`01`	`1`	`ENG`	`@1 The harmonious robot`
A11	`01`	`1`		`@1 ROOKS (Brian)`
A14	`01`			`@1 Industrial Robot @3 INC @Z 1 aut.`
A20				`@1 125-130`
A21				`@1 2006`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 18235 @5 354000142765630080`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 2 ref.`
A47	`01`	`1`		`@0 06-0222884`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Industrial robot`
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C01	`01`		`ENG`	@0 Purpose - To describe the design methodology and human-centre functionality of the whole arm manipulator (WAM) developed originally at MIT and brought to commercial fruition by Barrett Technology. Design/methodology/approach - The WAM arm is driven by cable-and-cylinder transmissions, which uniquely exhibits zero backlash with low friction and low inertia, endowing the WAM with good open-loop "backdrivability". Two key benefits of the high backdrivability are: motion control through joint torque control, which enables the intrinsic sensing of forces over the whole arm and makes it inherently safe to humans; operation directly in the Cartesian domain without the need for inverse kinematics calculations, providing very rapid responsiveness as demonstrated in the "baseball robot" of Tokyo University. Another benefit of the WAM is its kinematic redundancy through the 4-dof (degrees-of-freedom) main axes (7-dof with the wrist). Recent major advances in the WAM include the "puck", the world's smallest fully-featured servo-controller that eliminates the need for an external controller cabinet, and a safety circuit that limits, by a set amount, the power flow from the WAM to a person or object while not inhibiting the reverse from human to arm. The WAM's intrinsic force control has allowed the development of software-defined haptic walls, which are being exploited by partners such as the CMU (Carnegie Mellon University) Robotics Institute, in patient rehabilitation, and Mako Surgical, for use in joint surgery. Findings - The Barrett WAM's good open-loop backdrivability has initiated the development of novel human-centred robot applications that will expand the use of robots outside the factory and into human-inhabited areas. Originality/value - Presents the design methodology, features and applications of the Barrett WAM human-centred robot.
C02	`01`	`X`		`@0 001D02D11`
C03	`01`	`X`	`FRE`	`@0 Robotique @5 06`
C03	`01`	`X`	`ENG`	`@0 Robotics @5 06`
C03	`01`	`X`	`SPA`	`@0 Robótica @5 06`
C03	`02`	`X`	`FRE`	`@0 Homme @5 07`
C03	`02`	`X`	`ENG`	`@0 Human @5 07`
C03	`02`	`X`	`SPA`	`@0 Hombre @5 07`
C03	`03`	`X`	`FRE`	`@0 Commande mouvement @5 08`
C03	`03`	`X`	`ENG`	`@0 Motion control @5 08`
C03	`03`	`X`	`SPA`	`@0 Control movimiento @5 08`
C03	`04`	`X`	`FRE`	`@0 Commande couple @5 09`
C03	`04`	`X`	`ENG`	`@0 Torque control @5 09`
C03	`04`	`X`	`SPA`	`@0 Mando de par @5 09`
C03	`05`	`X`	`FRE`	`@0 Commande force @5 10`
C03	`05`	`X`	`ENG`	`@0 Force control @5 10`
C03	`05`	`X`	`SPA`	`@0 Control fuerza @5 10`
C03	`06`	`X`	`FRE`	`@0 Développement logiciel @5 11`
C03	`06`	`X`	`ENG`	`@0 Software development @5 11`
C03	`06`	`X`	`SPA`	`@0 Desarrollo logicial @5 11`
C03	`07`	`X`	`FRE`	`@0 Relation homme machine @5 12`
C03	`07`	`X`	`ENG`	`@0 Man machine relation @5 12`
C03	`07`	`X`	`SPA`	`@0 Relación hombre máquina @5 12`
C03	`08`	`X`	`FRE`	`@0 Bras @5 18`
C03	`08`	`X`	`ENG`	`@0 Arm @5 18`
C03	`08`	`X`	`SPA`	`@0 Brazo @5 18`
C03	`09`	`X`	`FRE`	`@0 Manipulateur @5 19`
C03	`09`	`X`	`ENG`	`@0 Manipulator @5 19`
C03	`09`	`X`	`SPA`	`@0 Manipulador @5 19`
C03	`10`	`X`	`FRE`	`@0 Câble @5 20`
C03	`10`	`X`	`ENG`	`@0 Cable @5 20`
C03	`10`	`X`	`SPA`	`@0 Cable @5 20`
C03	`11`	`X`	`FRE`	`@0 Jeu mécanique @5 21`
C03	`11`	`X`	`ENG`	`@0 Mechanical clearance @5 21`
C03	`11`	`X`	`SPA`	`@0 Juego mecánico @5 21`
C03	`12`	`X`	`FRE`	`@0 Frottement @5 22`
C03	`12`	`X`	`ENG`	`@0 Friction @5 22`
C03	`12`	`X`	`SPA`	`@0 Frotamiento @5 22`
C03	`13`	`X`	`FRE`	`@0 Inertie @5 23`
C03	`13`	`X`	`ENG`	`@0 Inertia @5 23`
C03	`13`	`X`	`SPA`	`@0 Inercia @5 23`
C03	`14`	`X`	`FRE`	`@0 Boucle ouverte @5 24`
C03	`14`	`X`	`ENG`	`@0 Open loop @5 24`
C03	`14`	`X`	`SPA`	`@0 Bucle abierto @5 24`
C03	`15`	`X`	`FRE`	`@0 Redondance @5 25`
C03	`15`	`X`	`ENG`	`@0 Redundancy @5 25`
C03	`15`	`X`	`SPA`	`@0 Redundancia @5 25`
C03	`16`	`X`	`FRE`	`@0 Poignet @5 26`
C03	`16`	`X`	`ENG`	`@0 Wrist @5 26`
C03	`16`	`X`	`SPA`	`@0 Muñeca @5 26`
C03	`17`	`X`	`FRE`	`@0 Flux énergétique @5 27`
C03	`17`	`X`	`ENG`	`@0 Energy flow @5 27`
C03	`17`	`X`	`SPA`	`@0 Flujo energético @5 27`
C03	`18`	`X`	`FRE`	`@0 Problème inverse @5 28`
C03	`18`	`X`	`ENG`	`@0 Inverse problem @5 28`
C03	`18`	`X`	`SPA`	`@0 Problema inverso @5 28`
C03	`19`	`X`	`FRE`	`@0 Cinématique @5 29`
C03	`19`	`X`	`ENG`	`@0 Kinematics @5 29`
C03	`19`	`X`	`SPA`	`@0 Cinemática @5 29`
C03	`20`	`X`	`FRE`	`@0 Flux puissance @5 41`
C03	`20`	`X`	`ENG`	`@0 Power flow @5 41`
C03	`20`	`X`	`SPA`	`@0 Flujo potencia @5 41`
C03	`21`	`X`	`FRE`	`@0 Zéro transmission @4 CD @5 96`
C03	`21`	`X`	`ENG`	`@0 Transmission zero @4 CD @5 96`
C03	`21`	`X`	`SPA`	`@0 Cero transmisión @4 CD @5 96`
N21				`@1 142`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

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Brian Rooks

<affiliation><inist:fA14 i1="01"><s1>Industrial Robot</s1>
<s3>INC</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
<wicri:noCountry>INC</wicri:noCountry>
</affiliation>

Le document en format XML

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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Arm</term>
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<term>Man machine relation</term>
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<term>Bras</term>
<term>Manipulateur</term>
<term>Câble</term>
<term>Jeu mécanique</term>
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<term>Inertie</term>
<term>Boucle ouverte</term>
<term>Redondance</term>
<term>Poignet</term>
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<front><div type="abstract" xml:lang="en">Purpose - To describe the design methodology and human-centre functionality of the whole arm manipulator (WAM) developed originally at MIT and brought to commercial fruition by Barrett Technology. Design/methodology/approach - The WAM arm is driven by cable-and-cylinder transmissions, which uniquely exhibits zero backlash with low friction and low inertia, endowing the WAM with good open-loop "backdrivability". Two key benefits of the high backdrivability are: motion control through joint torque control, which enables the intrinsic sensing of forces over the whole arm and makes it inherently safe to humans; operation directly in the Cartesian domain without the need for inverse kinematics calculations, providing very rapid responsiveness as demonstrated in the "baseball robot" of Tokyo University. Another benefit of the WAM is its kinematic redundancy through the 4-dof (degrees-of-freedom) main axes (7-dof with the wrist). Recent major advances in the WAM include the "puck", the world's smallest fully-featured servo-controller that eliminates the need for an external controller cabinet, and a safety circuit that limits, by a set amount, the power flow from the WAM to a person or object while not inhibiting the reverse from human to arm. The WAM's intrinsic force control has allowed the development of software-defined haptic walls, which are being exploited by partners such as the CMU (Carnegie Mellon University) Robotics Institute, in patient rehabilitation, and Mako Surgical, for use in joint surgery. Findings - The Barrett WAM's good open-loop backdrivability has initiated the development of novel human-centred robot applications that will expand the use of robots outside the factory and into human-inhabited areas. Originality/value - Presents the design methodology, features and applications of the Barrett WAM human-centred robot.</div>
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<fC01 i1="01" l="ENG"><s0>Purpose - To describe the design methodology and human-centre functionality of the whole arm manipulator (WAM) developed originally at MIT and brought to commercial fruition by Barrett Technology. Design/methodology/approach - The WAM arm is driven by cable-and-cylinder transmissions, which uniquely exhibits zero backlash with low friction and low inertia, endowing the WAM with good open-loop "backdrivability". Two key benefits of the high backdrivability are: motion control through joint torque control, which enables the intrinsic sensing of forces over the whole arm and makes it inherently safe to humans; operation directly in the Cartesian domain without the need for inverse kinematics calculations, providing very rapid responsiveness as demonstrated in the "baseball robot" of Tokyo University. Another benefit of the WAM is its kinematic redundancy through the 4-dof (degrees-of-freedom) main axes (7-dof with the wrist). Recent major advances in the WAM include the "puck", the world's smallest fully-featured servo-controller that eliminates the need for an external controller cabinet, and a safety circuit that limits, by a set amount, the power flow from the WAM to a person or object while not inhibiting the reverse from human to arm. The WAM's intrinsic force control has allowed the development of software-defined haptic walls, which are being exploited by partners such as the CMU (Carnegie Mellon University) Robotics Institute, in patient rehabilitation, and Mako Surgical, for use in joint surgery. Findings - The Barrett WAM's good open-loop backdrivability has initiated the development of novel human-centred robot applications that will expand the use of robots outside the factory and into human-inhabited areas. Originality/value - Presents the design methodology, features and applications of the Barrett WAM human-centred robot.</s0>
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<s5>07</s5>
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<fC03 i1="02" i2="X" l="ENG"><s0>Human</s0>
<s5>07</s5>
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<s5>07</s5>
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<s5>08</s5>
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<s5>08</s5>
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<s5>08</s5>
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<s5>09</s5>
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<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Mando de par</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Commande force</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Force control</s0>
<s5>10</s5>
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<fC03 i1="05" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Développement logiciel</s0>
<s5>11</s5>
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<fC03 i1="06" i2="X" l="ENG"><s0>Software development</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Desarrollo logicial</s0>
<s5>11</s5>
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<fC03 i1="07" i2="X" l="FRE"><s0>Relation homme machine</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Man machine relation</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Relación hombre máquina</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Bras</s0>
<s5>18</s5>
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<fC03 i1="08" i2="X" l="ENG"><s0>Arm</s0>
<s5>18</s5>
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<fC03 i1="08" i2="X" l="SPA"><s0>Brazo</s0>
<s5>18</s5>
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<fC03 i1="09" i2="X" l="FRE"><s0>Manipulateur</s0>
<s5>19</s5>
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<fC03 i1="09" i2="X" l="ENG"><s0>Manipulator</s0>
<s5>19</s5>
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<s5>19</s5>
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<fC03 i1="10" i2="X" l="FRE"><s0>Câble</s0>
<s5>20</s5>
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<fC03 i1="10" i2="X" l="ENG"><s0>Cable</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Cable</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Jeu mécanique</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Mechanical clearance</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Juego mecánico</s0>
<s5>21</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Frottement</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Friction</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Frotamiento</s0>
<s5>22</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Inertie</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Inertia</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Inercia</s0>
<s5>23</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Boucle ouverte</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Open loop</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Bucle abierto</s0>
<s5>24</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Redondance</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Redundancy</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Redundancia</s0>
<s5>25</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Poignet</s0>
<s5>26</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Wrist</s0>
<s5>26</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Muñeca</s0>
<s5>26</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Flux énergétique</s0>
<s5>27</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Energy flow</s0>
<s5>27</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Flujo energético</s0>
<s5>27</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Problème inverse</s0>
<s5>28</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Inverse problem</s0>
<s5>28</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Problema inverso</s0>
<s5>28</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Cinématique</s0>
<s5>29</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Kinematics</s0>
<s5>29</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Cinemática</s0>
<s5>29</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Flux puissance</s0>
<s5>41</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Power flow</s0>
<s5>41</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Flujo potencia</s0>
<s5>41</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Zéro transmission</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Transmission zero</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Cero transmisión</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fN21><s1>142</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
</inist>
</record>

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   |texte=   The harmonious robot
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This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

The harmonious robot

The harmonious robot

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