The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design and Control of Wire-driven Flexible Robot Following Human Arm Gestures

팔 동작 움직임을 모사하는 와이어 구동 유연 로봇의 설계 및 제어

  • Kim, Sanghyun (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Minhyo (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kang, Junki (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Son, SeungJe (Dept. of Mechanical Design and Robot Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Dong Hwan (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
  • Received : 2018.05.15
  • Accepted : 2018.12.10
  • Published : 2019.02.28
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Abstract

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

Keywords

References

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