Tuesday, April 20, 2010

Quanser 6-DOF Open-Architecture Robot

Quanser is presenting it's latest DENSO 6-axis articulated robot. The term 'articulated' is used for robots that consist of rotary/revolute joints. These joints are linked to each other in a serial configuration. The first three joints form an anthropomorphic arm while the second three form a wrist robot. This enables the robot to position and orient its end-effector within a large workspace, similarly to a human arm that can access any position and orientation within its reach, except that it has an extra joint.

This 6-Axis robot is open-architecture, powered by our real-time software, QUARC. QUARC's blocksets along with MATLAB/Simulink provide the user with an advanced user-friendly environment which facilitates and accelerates real-time programming of this robotic manipulator.

Quanser's DENSO 6-DOF Open-Architecture Robot has a wide and still growing range of applications, such as tele-operation tasks. It can be used in a robot-assisted surgery as an instrument holder or as a guidance system adding more precision and dexterity to the operation. Another medical applications in rehabilitation and nursing assistance come to mind as well.

In addition to medical applications, Quanser's DENSO 6-DOF Open-Architecture robot can be mounted on an unmanned vehicle as a camera/tool holder in an autonomous or semi-autonomous mission. Again, it can be tele-operated as a robotic manipulator, helping in remote or hazardous environments such as bomb disposal or mine sweeping scenarios. Users can also program the robot to do accurate automated tasks repeatedly in short cycle times. For instance, it can be programmed for such industrial tasks as assembling, welding, cutting, injection, and extraction.

Quanser's DENSO 6-DOF Open-Architecture robot has its place in university engineering labs: Using QUARC, this industrial robot can be rapidly interfaced in a fully open-architecture scenario. That makes it a perfect system to teach mechatronics, robotics, and mechanics. Plus, you can use it for research and development - for instance as a part of a humanoid robot combined with artificial intelligence.


In the above video we are using our high definition haptic device as a master robot to control the motions of the 6-Axis robot in the Cartesian workspace. This is called a bilateral teleoperation setup where the forces and torques at the tip of the robot are measured and applied back to the operator through the haptic device. In order to control the ball on my racket as it bounces up and down, I use the force feedback and apply a scaled motion command. The robot control loop is running at 8kHz while the force/torque sensing is at the rate of 10kHz. The robot is incredibly fast and precise. As a next step, we plan to play a real ping-pong match between robot and human, so stay tuned for this exciting video!

Quanser robot is made to be programmed by humans to assist humans with high speeds and accuracy.


Baharm said...

nice job man! good luck in your future research!

Se-Hun said...

I wonder how to control denso robot.

Denso robot with RC7 provide position control only.

I can't change the robot motion while current command is not completed.

I felt that this is inconvenient.

Do you use RC7 controller?

I really want to know how to operate denso robot.

please send this e-mail address

Thank you.

Quanser said...

Quanser has recently developed an embedded control platform to replace the standard Denso RC7 controller. Connecting directly to the Denso arm, the new controller utilizes Quanser’s real-time software QUARC, the 6-axis Denso robot can be completely operated in an open-architecture mode. In other words, each joint’s position or velocity can be commanded at a real-time rate of 1 ms. The user will also have full access to the robot controller gains and may even chose to command the torque of each joint directly. In addition, QUARC also provides the user with full access to the force/torque sensor as well as other QUARC supported devices. Moreover, The Kinematics, Jacobian, and 3D visualization of the robot are provided with the solution.”

Anonymous said...

Is said control platform available to commercial or academic customers? We are looking for an open-architecture controller for the Denso 6-DOF robot.

Quanser said...

Our Controller currently supports the Denso VP6 robot and we are working towards extending the support to all the 6 axis Denso robots. Contact us at info@quanser.com to discuss.

Juan C. said...

I wonder if the open architecture allows me to program new control laws, for research purposes. Please answer in jcmtzr@yahoo.com

Juan C. said...

I wonder if the open architecture allows me to program new control laws, for research purposes. Please answer in jcmtzr@yahoo.com

Mahyar said...

Yes! the Denos/Simulink integration (via QUARC) enables you to design and implement virtually any control scheme tailored for your research.

Carly said...

In the university we count with two 6-axis Denso robots and its RC7 controllers, we have an a question. What do we need to add to operate the system in an open-architecture mode?.

Thanks regards

Paul Karam said...

Hi Carly,

Quanser has developed a custom controller that allows for open architechture control of the Denso 6-Axis VP6242 robot.

If you already have a VP6242 robot, you would then need the Quanser controller as well as our software Quarc.

Quanser said...

Hi Carly,

if you would like to get more info on controller and QUARC software, email us at info@quanser.com

Anonymous said...

hi..i'm sorry if out of topic..i use the CRS catalyst-5 with open architecture system..i have a problem with the wincon toolbox that is sigmoid..with whom which can i ask question??

Quanser said...

Feel free to contact tech@quanser.com - they can help you with WinCon and help you to migrate to QUARC