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Operating High-DoF Articulated Robots Using Virtual Links and Joints

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Advances in Robotics and Virtual Reality

Part of the book series: Intelligent Systems Reference Library ((ISRL,volume 26))

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Abstract

This chapter presents the theory, implementation, and application of a novel operations system for articulated robots with large numbers (10s to 100s) of degrees-of-freedom (DoF), based on virtual articulations and kinematic abstractions. Such robots are attractive in some applications, including space exploration, due to their application flexibility. But operating them can be challenging: they are capable of many different kinds of motion, but often this requires coordination of many joints. Prior methods exist for specifying motions at both low and high-levels of detail; the new methods fill a gap in the middle by allowing the operator to be as detailed as desired. The presentation is fully general and can be directly applied across a broad class of 3D articulated robots.

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Author information

Authors and Affiliations

  1. College of Computer and Information Science, Northeastern University, Boston, MA, USA

    Marsette A. Vona

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  1. Marsette A. Vona
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Editors and Affiliations

  1. Department of Computer Science, COMSATS Institute of Information Technology, M.A. Jinnah Campus Defence Road, Lahore, Pakistan

    Tauseef Gulrez

  2. Faculty of Computer and Information Information Technology Department, Cairo University, 5 Ahmed Zewal St., Giza, Orman, Egypt

    Aboul Ella Hassanien

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Vona, M.A. (2012). Operating High-DoF Articulated Robots Using Virtual Links and Joints. In: Gulrez, T., Hassanien, A.E. (eds) Advances in Robotics and Virtual Reality. Intelligent Systems Reference Library, vol 26. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23363-0_12

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  • DOI: https://doi.org/10.1007/978-3-642-23363-0_12

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-23362-3

  • Online ISBN: 978-3-642-23363-0

  • eBook Packages: EngineeringEngineering (R0)

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