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Advanced Robotics
Collaborative
Research Project with the National University of Singapore, Singapore Institute of
Manufacturing Technology and Stanford University
(last update: 26 May 2006)
Brochures
Videos
Experiments involve a
- Mitsubishi PA-10 robot (torque controlled)
- Puma 560 robot (torque controlled)
- Nomad XR-4000 mobile base (velocity controlled)
- SIMTech custom made mobile base (torque controlled)
Compliant Motion of a Mobile Manipulator
(PA-10 on mobile base) NEW!
Mpg video file:
Robot motion (PA-10 on mobile base)
NEW!
Mpg video file: PA-10
Receiving and Slotting
Token NEW!
Mpg video file: Canopy
Polishing showing Force Tracking data (with user input for base motion to
extend robot workspace)
Mpg video file: Canopy
Polishing across wrist singularity
Mpg video file: Basic Compliant
Motion Capabilty (zero moment control)
Mpg video file: Canopy
Polishing using Compliant Motion with Base Motion as Disturbance
Mpg video file:
Canopy polishing using compliant motion across wrist singularity
Mpg video file: Singularity
handling on the PUMA 560 robot
Mpg video file: Null Motion
Capability of Arm-Base System, Walk Through of System
Mpg video file: Extension of Arm
Reachable Workspace by Mobile Base
Mpg
video file: Null Space Motion - maintaining position and orientation of
water bottle
Robotics Telepresence
Mpg video file: Head Eye Module for Robotic
Telepresence
Mpg video file: Haptics device controlling
PA-10 industrial robot
Mpg video file: Arm on Mobile Base
system, tracking the end-effector of PA-10 (green), which is controlled by a
haptics device
Mpg video file: Obstacle Avoidance (Global
optimal path and reactive motion planning)
Mpg video file: Vision
Based Control: Tracking a known target in six DOF
Mpg video file: Tool Sorting
Demonstration (Identifying and picking up tools) using PA-10 robot
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