제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2004년도 ICCAS
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- Pages.1396-1401
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- 2004
DESIGN AND ANALYSIS FOR THE SPECIAL SERIAL MANIPULATOR
- Kim, Woo-Sub (Graduate School of Automotive Engineering, Kookmin University) ;
- Park, Jae-Hong (Graduate School of Automotive Engineering, Kookmin University) ;
- Kim, Jung-Ha (Graduate School of Automotive Engineering, Kookmin University)
- 발행 : 2004.08.25
초록
In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously