Robot Manipulators Constructing a High-Performance Robot from Commercially Available Parts

摘要

In this paper we present a design study and technical specifications of a high performance robotic manipulator to be used for ball catching experiments using commercial off-the-shelf (COTS) components. Early evaluation shows that very good performance can be achieved using standardized PowerCube actuator modules from Amtec and a standard workstation using CAN bus communication. Implementation issues of low-level control and software platform are also described, as well as early experimental evaluation of the system.