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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)
Publication Information
Journal of Mechanical Science and Technology / v.20, no.8, 2006 , pp. 1159-1168 More about this Journal
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
Motion Control System; Mobile Robot Arm; Microprocessor; Trajectory Profile;
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