On the performance of the Baxter research robot
On the performance of the Baxter research robot
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巴克斯特研究机器人的性能
DOI：
10.1109/isam.2016.7750722
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
D. Popa
中科院分区：
文献类型：
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作者：
Sven Cremer;Larry Mastromoro;D. Popa
过去几年协作工业机器人的兴起将对制造业产生重大影响。许多人加入了开发更可持续、更实惠的协作机器人劳动力的运动，这些机器人可以安全地与人类一起工作；或许，Rethink Robotics 就是最能体现这一点的人。本文对 Rethink 的 Baxter 研究机器人进行了性能评估：利用点对点运动测试和书写任务，通过实验将其运动精度与传统工业手臂的运动精度进行了比较。此外，还确定并验证了 Denavit-Hartenberg (DH) 参数，以便对机器人手臂的运动链进行建模。最后，评估了与 2015 年 IEEE 亚马逊拾取挑战赛一致的拾取和放置任务的产量。结果表明，虽然 Baxter 的精度有限，但其在半结构化环境中处理常见家庭大小物品的能力是一笔巨大的财富。
The rise of collaborative industrial robotics in the past few years is poised to have a significant impact on manufacturing. Many have joined the movement toward developing a more sustainable and affordable collaborative robotic workforce that can safely work alongside humans; perhaps, none more so than Rethink Robotics. This paper provides a performance assessment of Rethink's Baxter research robot: its kinematic precision was compared experimentally to that of a conventional industrial arm utilizing a point-to-point motion test and writing task. In addition, the Denavit-Hartenberg (DH) parameters were determined and verified in order to model the kinematic chains of the robot arms. Finally, the yield of pick and place tasks consistent with the 2015 IEEE Amazon's Picking Challenge were assessed. Results show that while Baxter's precision is limited, its ability to handle common household-size items in semi-structured environments is a great asset.