Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed
The integrated raster imaging system (IRIS) facility is a robot system to be used for experiments in grasping, manipulation and force control. The facility has two manipulators with four rotary joints each. Each manipulator can assume a multitude of configurations. Each joint is driven by DC brushle...
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| creator | Hui, R. Kircanski, N. Goldenberg, A. Zhou, C. Kuzan, P. Wiercienski, J. Gershon, D. Sinha, P. |
| description | The integrated raster imaging system (IRIS) facility is a robot system to be used for experiments in grasping, manipulation and force control. The facility has two manipulators with four rotary joints each. Each manipulator can assume a multitude of configurations. Each joint is driven by DC brushless motors coupled with harmonic cup drives, and instrumented with position and torque sensors. A six-degrees-of-freedom (DOF) force/torque sensor is mounted at the tip link. The real-time controller of the IRIS facility is based on a nodal architecture. Each node is capable of controlling 8 joints at 1 kHz while executing over 1000-FP (floating point) operations per joint in each sampling method. The design of the IRIS facility and its functional capabilities are described. In addition, the rationale behind the major design decisions is given.< > |
| doi_str_mv | 10.1109/ROBOT.1993.291856 |
| format | Conference Proceeding |
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The facility has two manipulators with four rotary joints each. Each manipulator can assume a multitude of configurations. Each joint is driven by DC brushless motors coupled with harmonic cup drives, and instrumented with position and torque sensors. A six-degrees-of-freedom (DOF) force/torque sensor is mounted at the tip link. The real-time controller of the IRIS facility is based on a nodal architecture. Each node is capable of controlling 8 joints at 1 kHz while executing over 1000-FP (floating point) operations per joint in each sampling method. The design of the IRIS facility and its functional capabilities are described. In addition, the rationale behind the major design decisions is given.< ></description><identifier>ISBN: 9780818634505</identifier><identifier>ISBN: 0818634502</identifier><identifier>DOI: 10.1109/ROBOT.1993.291856</identifier><language>eng</language><publisher>IEEE Comput. Soc. Press</publisher><subject>Brushless motors ; Couplings ; Force control ; Force sensors ; Instruments ; Iris ; Manipulators ; Robot sensing systems ; Sampling methods ; Torque</subject><ispartof>[1993] Proceedings IEEE International Conference on Robotics and Automation, 1993, p.155-160 vol.3</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/291856$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2051,4035,4036,27904,54898</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/291856$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Hui, R.</creatorcontrib><creatorcontrib>Kircanski, N.</creatorcontrib><creatorcontrib>Goldenberg, A.</creatorcontrib><creatorcontrib>Zhou, C.</creatorcontrib><creatorcontrib>Kuzan, P.</creatorcontrib><creatorcontrib>Wiercienski, J.</creatorcontrib><creatorcontrib>Gershon, D.</creatorcontrib><creatorcontrib>Sinha, P.</creatorcontrib><title>Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed</title><title>[1993] Proceedings IEEE International Conference on Robotics and Automation</title><addtitle>ROBOT</addtitle><description>The integrated raster imaging system (IRIS) facility is a robot system to be used for experiments in grasping, manipulation and force control. 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In addition, the rationale behind the major design decisions is given.< ></description><subject>Brushless motors</subject><subject>Couplings</subject><subject>Force control</subject><subject>Force sensors</subject><subject>Instruments</subject><subject>Iris</subject><subject>Manipulators</subject><subject>Robot sensing systems</subject><subject>Sampling methods</subject><subject>Torque</subject><isbn>9780818634505</isbn><isbn>0818634502</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1993</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj8tKAzEYRgMiKHUeQFd5AKfm2iRLrVoHCgNtXZdc_tTIdKZkUrBvb7GezeFsPvgQuqdkSikxT6v2pd1MqTF8ygzVcnaFKqM00VTPuJBE3qBqHL_JGckUk-YWrV9hTLseDxGXL8DNqlnjaH3qUjnVFu-HcOxsfsQZ_NDHtDtm6zrAtg8Yfg5n_WUe3FBwgbFgB-EOXUfbjVD9e4I-398284962S6a-fOyTpSIUlvlXJBOey6islpE7yKhUpDIgVkQhikFxFIKIInn1EofuDbSg4bAGOET9HDZTQCwPeS0t_m0vTznv6N7Tyc</recordid><startdate>1993</startdate><enddate>1993</enddate><creator>Hui, R.</creator><creator>Kircanski, N.</creator><creator>Goldenberg, A.</creator><creator>Zhou, C.</creator><creator>Kuzan, P.</creator><creator>Wiercienski, J.</creator><creator>Gershon, D.</creator><creator>Sinha, P.</creator><general>IEEE Comput. Soc. Press</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1993</creationdate><title>Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed</title><author>Hui, R. ; Kircanski, N. ; Goldenberg, A. ; Zhou, C. ; Kuzan, P. ; Wiercienski, J. ; Gershon, D. ; Sinha, P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i104t-a7bbd5b8c34f7a84fcbf01540f3e2ae49277e0a11ee50c31a5cd3895ce8ed2203</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1993</creationdate><topic>Brushless motors</topic><topic>Couplings</topic><topic>Force control</topic><topic>Force sensors</topic><topic>Instruments</topic><topic>Iris</topic><topic>Manipulators</topic><topic>Robot sensing systems</topic><topic>Sampling methods</topic><topic>Torque</topic><toplevel>online_resources</toplevel><creatorcontrib>Hui, R.</creatorcontrib><creatorcontrib>Kircanski, N.</creatorcontrib><creatorcontrib>Goldenberg, A.</creatorcontrib><creatorcontrib>Zhou, C.</creatorcontrib><creatorcontrib>Kuzan, P.</creatorcontrib><creatorcontrib>Wiercienski, J.</creatorcontrib><creatorcontrib>Gershon, D.</creatorcontrib><creatorcontrib>Sinha, P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Hui, R.</au><au>Kircanski, N.</au><au>Goldenberg, A.</au><au>Zhou, C.</au><au>Kuzan, P.</au><au>Wiercienski, J.</au><au>Gershon, D.</au><au>Sinha, P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed</atitle><btitle>[1993] Proceedings IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1993</date><risdate>1993</risdate><spage>155</spage><epage>160 vol.3</epage><pages>155-160 vol.3</pages><isbn>9780818634505</isbn><isbn>0818634502</isbn><abstract>The integrated raster imaging system (IRIS) facility is a robot system to be used for experiments in grasping, manipulation and force control. The facility has two manipulators with four rotary joints each. Each manipulator can assume a multitude of configurations. Each joint is driven by DC brushless motors coupled with harmonic cup drives, and instrumented with position and torque sensors. A six-degrees-of-freedom (DOF) force/torque sensor is mounted at the tip link. The real-time controller of the IRIS facility is based on a nodal architecture. Each node is capable of controlling 8 joints at 1 kHz while executing over 1000-FP (floating point) operations per joint in each sampling method. The design of the IRIS facility and its functional capabilities are described. In addition, the rationale behind the major design decisions is given.< ></abstract><pub>IEEE Comput. Soc. Press</pub><doi>10.1109/ROBOT.1993.291856</doi></addata></record> |
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| identifier | ISBN: 9780818634505 |
| ispartof | [1993] Proceedings IEEE International Conference on Robotics and Automation, 1993, p.155-160 vol.3 |
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| language | eng |
| recordid | cdi_ieee_primary_291856 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Brushless motors Couplings Force control Force sensors Instruments Iris Manipulators Robot sensing systems Sampling methods Torque |
| title | Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed |
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