Articulated Motion (ArM) Laboratory

This laboratory supports research activities in the simulation, analysis, design, and control of articulated motion generated by either biological or robotic systems. The emphasis is on the class of articulated systems that are kinematically redundant, and therefore capable of highly complex and dexterous motions. Current research activities include the development of failure tolerant robotic systems for use in hazardous or remote environments and the design of automated assembly and inspection systems for industrial applications.

The research activities are supported by a computer graphic simulation environment and experimental robotic testbed. The computer graphic facilities include Intel and SUN workstations equipped with graphics accelerator boards along with Stereographics VR kits that include shuttered LCD eyeglasses for 3D display and ultrasonic sensors for head tracking. Interaction with the simulated environments is facilitated by a 6D ultrasonic mouse and the electromagnetic Polhemus Fastrack system. The experimental robotic testbed includes a five-axis Adept-I manipulator with a tool changer, a number of vacuum and parallel jaw grippers, and an XGS vision system with several Pulnix cameras. An additional workcell is centered around a PUMA 560 robot.

For more information about this laboratory, contact: Prof. A. A. Maciejewski