Using COTS to Construct a High Performance Robot Arm

Abstract— 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.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Christian Smith, Henrik I. Christensen
• Keywords: Commercial Off-the-shelf, ICRA 2007, Performance Robotic Manipulator, Robotics, Standardized Powercube Actuator