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Experimental Optimization of a Discrete Robot Exhibiting Hysteresis

[+] Author Affiliations
Karl Kirsch, Michael Kean, Raymond J. Cipra

Purdue University, West Lafayette, IN

Paper No. DETC2012-71302, pp. 1115-1124; 10 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


Discrete joint manipulators are a potential alternative to common continuous joint robots used in industry today. Applications of a discrete joint manipulator include proximity positioning tasks, space exploration, camera placement, and automation systems. Discrete robots are potentially useful for small scale robots because it is difficult to implement sensors and motors at small scales. This work discusses the results obtained with an experimental 7 link robot designed for an 8 × 12 inch grid.

Results show that a discrete robot can successfully be used for proximity positioning tasks. The performance depends on the location of discrete points relative to the desired points and also on the repeatability of the experimental manipulator. Results obtained via a vision system demonstrate the potential capabilities of the planar discrete manipulator. Results include subsets of end-effector positions in the gridspace and training results.

Copyright © 2012 by ASME
Topics: Robots , Optimization



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