Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지

Development of a New 5 DOF Mobile Robot Arm and its Motion Control System

  • Choi Hyeung-Sik (Division of Mechanical and Information Engineering, Underwater Vehicle Research Center, Korea Maritime University) ;
  • Lee Chang-Man (Department of Mechanical Engineering, Korea Maritime University) ;
  • Chun Chang-Hun (DASA Tech)
  • Published : 2006.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers w ε re developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the openGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.

Keywords

References

  1. Han, S. H. and Hashimoto, H., 2005, 'A Robust Real Time Adaptive Controller Design for Robot Manipulator with Eight-Joints Based on DSPs,' Journal of Mechanical Science and Technology, Vol. 19, No. 10
  2. Harada, K., Kajita, S., Saito, H., Morisawa, M., Kanehiro, F., Fujiwara, K., Kaneko, K. and Hirukawa, H., 2005, 'A Humanoid Robot Carrying a Heavy Object,' Proc. IEEE International Conf. on Robotics and Automation, pp. 1724-1729
  3. Huang, Q., Sugano, S. and Tanie, K., 1998, 'Motion Planning for a Mobile Manipulator Considering Stability and Task Constraints,' Proc of the IEEE Int. Conf. on Robotics and Automation, pp.2192-2198 https://doi.org/10.1109/ROBOT.1998.680649
  4. Kim, J. H., Park, S. W., Park, I. W. and Oh, J. H., 2003, 'Development of a Humanoid Biped Walking Robot Platform KHR-1- Initial Design and Its Performance Evaluation,' in Proceedings of 3rd IARP Int. Workshop on Humanoid and Human Friendly Robotics, pp. 14-21
  5. Koyachi, N., Aral, T., Adachi, H., Asami, K. and Itoh, Y., 1995, 'Hexapod with integrated Limb Mechanism of Leg and Arm,' Proc. of the Int. Conf. on Robotics and Automation, pp. 1952-1957 https://doi.org/10.1109/ROBOT.1995.525550
  6. Labrosse, J. J., 2002, 'MicroC/OS-II Real Time Kernel,,' CMP Books, pp. 11-12
  7. Morita, T., Shibuya, K. and Sugano, S., 1998, 'Design and Control of the Mobile Manipulation Symbiotic Humanoid: Hadaly-2,' Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1315-1320 https://doi.org/10.1109/ROBOT.1998.677287
  8. Perrier, C., Dauchez, P. and Pierrot, F., 1998, 'A Global Approach for Motion Generation of Non-Holonomic Mobile Manipulators,' Proc. of the IEEE Int. Conf. on Robotics and Automation, pp.2971-2976 https://doi.org/10.1109/ROBOT.1998.680881
  9. Spong, M. W. and Vidyasagar, M., 1989, 'Robot Dynamics and Control,' John Wiley & Sons
  10. Thompson, P., Rombaut, M., Rzbatel, G., Pierrot, F., Liegeois, A. and Sevile, F., 1995, 'Design and Contol of a Mobile Manipulator for Weed Control,' Proc. of the Int. Conf. on Advanced Robotics, pp. 933-938
  11. ATmega128 User Manual, Atmel. Inc, 2004. TMS320LF2407A User Guide, Texas Instrument. Inc
  12. http://asimo.honda.com/
  13. http://www.intel.com/cd/corporate/
  14. http://www.samsung.com/Products/Semiconductor/SystemLSI/DevelopmentTools/ 32bitscores01.htm
  15. http://www.microchip.com/stellent