หุ่นยนต์โคบอทปรับขนาด
Cobots, or collaborative robots, are a class of intrinsically passive robotic devices designed for direct collaboration with a human operator within a shared workspace. This research presents a novel cobot called resizable cobot that can expand or retract its configuration during operation according...
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| Format: | Theses and Dissertations |
| Language: | Thai |
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จุฬาลงกรณ์มหาวิทยาลัย
2009
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| Online Access: | https://digiverse.chula.ac.th/Info/item/dc:43942 |
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| Institution: | Chulalongkorn University |
| Language: | Thai |
| Summary: | Cobots, or collaborative robots, are a class of intrinsically passive robotic devices designed for direct collaboration with a human operator within a shared workspace. This research presents a novel cobot called resizable cobot that can expand or retract its configuration during operation according to preprogrammed paths. The resizable cobot is a planar cobot that possesses a three-dimensional configuration space, with an additional tranformation expanding its space. Tangent and curvature transformations including detailed kinematics of the transformable cobot using a path length parameter are systematically derived. In addition, kinematics of motion and expansion can be planed separately. The design and construction of the tabletop prototype is presented. A feed-forward with feedback control is implemented and kinematic simulation and experimental results provided. |
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