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http://dx.doi.org/10.5302/J.ICROS.2016.16.0161

Design and Control of Robot Arm for Inspection and Rescue Operations  

Kang, Jin-Il (Ocean Science and Technology School, KIOST-KMOU)
Choi, Hyeung-Sik (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Jun, Bong-Huan (Korea Research Institute of Ship and Ocean Engineering)
Ji, Dae-Hyeong (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Oh, Ji-Yoon (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Kim, Joon-Young (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.11, 2016 , pp. 888-894 More about this Journal
Abstract
This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.
Keywords
inspection robot arm; rescue operation robot arm; waterproof; kinematics;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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